Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Navigation is... Timid

asked 2012-07-06 05:42:35 -0500

allenh1

3045 ●62 ●89 ●110 http://allen-software.com/

I'm having trouble with navigation. The robot moves in little jerks, not in fluid motion... What parameters should I look at for this?

Also,

I'm getting warnings from the map update timing. How do I make these go away? It is trying to update it too quickly, and it may be the orgin of the problem. The robot is connected to a master over wifi. Here, the master runs the navigation while the robot runs the sensors and motors (not much of a processor on the robot). Could this be the start of the delay?

Thanks in advance,

-Hunter A.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2012-07-06 05:54:41 -0500

cagatay

1850 ●12 ●20 ●31

updated 2012-07-06 05:59:51 -0500

hello,

for mapping update timing, you can change update_frequency in global_costmap_params.yaml and local_costmap_params.yaml and you may consider lowering the publish_frequency because of computational load.

about your motion, you may decrease your acceleration parameters, and make you sure that your robot is following cmd_vel 's datas corretly, record your velocity params and record cmd_vel then plot them in rxgraph, see if given velocity datas and your velocities match

for more and detailed information check navigation tunining wiki

edit flag offensive delete link

add a comment

Question Tools

Stats

Asked: 2012-07-06 05:42:35 -0500

Seen: 274 times

Last updated: Jul 06 '12

Navigation is... Timid edit

1 Answer

Question Tools

Stats

Related questions

Navigation is... Timid