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cmd_vel.y=1 stop pioneer robot

asked 2012-06-04 02:34:36 -0500

viking gravatar image

updated 2012-06-04 04:17:18 -0500

dornhege gravatar image

Hello, everyone, I'm runing navigation tutorial thoes days, it seems all goes well now, I can mapping, localize and navigate the robot in stage, but there is a prolem, when the robot stucked by some obstacle, it will stop. I use

rostopic echo /cmd_vel

, and get result as blow:

linear: 
  x: 0.0
  y: 0.1
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.0

What I known is that on Pioneer robot, the cmd_vel.linear.y have no effection on robot's move, but the move_base node just publihsed this value in cmd_vel...

Besides, I have configure the robot according to this page ,but only use stage as simulator and change the map file.

Any suggestion?

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2 Answers

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answered 2012-06-04 02:53:36 -0500

dornhege gravatar image

updated 2012-06-04 02:53:55 -0500

I think you have set holonimic_robot: true in RobotSetup#Base_Local_Planner_Configuration which isn't true.

If it's not holonomic the local planner shouldn't set y-velocities.

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answered 2012-06-04 03:10:18 -0500

viking gravatar image

Oh, yes, I have forget that, thanks very much

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Comments

Please accept the answer then ;)

hawesie gravatar imagehawesie ( 2012-06-04 23:54:24 -0500 )edit

sorry? Do you means to close this issue? but my reputation is too low... How should I do? (this is my first time asking ^_^)

viking gravatar imageviking ( 2012-06-06 17:31:45 -0500 )edit

Just click on the tick on dornhege's answer to show it's the answer to your question.

hawesie gravatar imagehawesie ( 2012-06-07 04:30:43 -0500 )edit

OK ,thanks

viking gravatar imageviking ( 2012-06-08 23:48:31 -0500 )edit

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Asked: 2012-06-04 02:34:36 -0500

Seen: 326 times

Last updated: Jun 04 '12