navigation parameters that work on raspberry pi 3B+ (CPU maxed with current)
I have a turtlebot3 with an raspberry pi3B+ and ROS kinetic. Navigation needs to work without wifi so the navigation (amcl, map server and move_base) are on the robot and not the master computer. I followed the tuning guide and that seemed to work a little bit. The cpu is maxed out while running the navigation causing errors like: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1588257150.085312973]: Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past. Requested time 1588257131.666440187 but the earliest data is at time 1588257140.039010063, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1588257141.324896190]: Costmap2DROS transform timeout. Current time: 1588257141.3245, global_pose stamp: 1588257131.6664, tolerance: 1.0000
Map update loop missed its desired rate of 3.0000Hz... the loop actually took 0.3480 seconds
I spend the whole day tweaking parameters of the DWA_planner, amcl ,global and local costmap ect. But can't find a good balance. I am new to ROS and don't know what costs the most cpu power and what corners to cut. My question does anyone have parameters / settings for navigation that work good on their robot with a raspberry pi for navigation to waypoints in a map?
Thanks you for the time and read :)
