how to make velocity of turtlebot is smoother??
I installed this library: sudo apt install ros-indigo-yocs-velocity-smoother
and I am following here link text , those topics that I use for velocity:
self.cmd_pub = rospy.Publisher("/mobile_base/commands/velocity", Twist, queue_size=10)
self.cmd_pub = rospy.Publisher('/cmd_vel_mux/input/navi',Twist, queue_size=1)
self.cmd_pub = rospy.Publisher('/cmd_vel_mux/input/safety_controller',Twist, queue_size=1)
self.cmd_pub = rospy.Publisher('/cmd_vel_mux/input/teleop',Twist, queue_size=1)
Note: I just use one of them in my codes, not together.
I am working in people detection, but the robot sometimes loses the target, thus it stops suddenly. I need that the robot stops smoothly
how to use this library correctly???
I tried using this topic but it not move, I think that something is wrong.
self.cmd_pub = rospy.Publisher('/smooth_cmd_vel',Twist, queue_size=1)
Please help me or any suggestion
Thank you in advance
Asked by Redhwan on 2019-03-20 02:45:24 UTC
Answers
Here is how I was launching velocity smoother from my minimal.launch for the Teleop velocity smoother:
<include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
<arg name="node_name" value="teleop_velocity_smoother"/>
<arg name="nodelet_manager_name" value="mobile_base_nodelet_manager"/>
<arg name="config_file" value="$(find yocs_velocity_smoother)/param/standalone.yaml"/>
<arg name="raw_cmd_vel_topic" value="velocity_smoother/raw_cmd_vel_teleop"/>
<arg name="smooth_cmd_vel_topic" value="cmd_vel_mux/input/teleop"/>
<arg name="robot_cmd_vel_topic" value="robot_cmd_vel"/>
<arg name="odom_topic" value="odom"/>
</include>
Similarly here is an example for nav_velocity_smoother:
<include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
<arg name="node_name" value="nav_velocity_smoother"/>
<arg name="nodelet_manager_name" value="mobile_base_nodelet_manager"/>
<arg name="config_file" value="$(find yocs_velocity_smoother)/param/standalone.yaml"/>
<arg name="raw_cmd_vel_topic" value="velocity_smoother/raw_cmd_vel_nav"/>
<arg name="smooth_cmd_vel_topic" value="cmd_vel_mux/input/nav"/>
<arg name="robot_cmd_vel_topic" value="robot_cmd_vel"/>
<arg name="odom_topic" value="odom"/>
</include>
Asked by vik748 on 2019-03-20 08:34:48 UTC
Comments
Why are you using the same variable name for all the publishers?
Asked by vik748 on 2019-03-20 06:19:11 UTC
I don't use them together, sorry about this, I just use one of them, the robot move
I edited my question
Asked by Redhwan on 2019-03-20 07:17:21 UTC