Ask Your Question
0

Navigation is... Timid

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

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?

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

1 Answer

Sort by ยป oldest newest most voted
1

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

cagatay gravatar image

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 more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

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

Seen: 140 times

Last updated: Jul 06 '12