How to set min and max angular values in DWAPlannerROS?
I want to set min and max values that DWAPlannerROS can send to cmd_vel as these values were empirically measured for my robot.
This is how I stated my yaml file:
recovery_behavior_enabled: true
clearing_rotation_allowed: true
DWAPlannerROS:
acc_lim_x: 1
acc_lim_y: 0
acc_lim_theta: 1.6
max_vel_trans: 1.6
min_vel_trans: 0.8
max_vel_x: 1.6
min_vel_x: 0.8
max_vel_y: 0.0
min_vel_y: 0.0
min_vel_theta: 10
max_vel_theta: 11
holonomic_robot: false
xy_goal_tolerance: 0.3
yaw_goal_tolerance: 0.20
latch_xy_goal_tolerance: true
sim_time: 4
sim_granularity: 0.05
vx_samples: 5
vy_samples: 0
vth_samples: 5
controller_frequency: 15
occdist_scale: 0.01
oscillation_reset_dist: 0.2
publish_cost_grid: false
global_frame_id: odom
simple_attractor: false
reset_distance: 4
prune_plan: true
However, I echoed the /cmd_vel topic and I can see that move_base still sends the values below 10 for angular.z:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0
Why is it sending these values?
Which distro are you using?
@David Lu I am using Melodic