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Navigation is... Timid

asked 2012-07-06 05:42:35 -0600

allenh1 gravatar image

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


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.

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answered 2012-07-06 05:54:41 -0600

cagatay gravatar image

updated 2012-07-06 05:59:51 -0600


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

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Asked: 2012-07-06 05:42:35 -0600

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Last updated: Jul 06 '12