| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
I want to use move_slow_and_clear recovery behavior but there is very limited documentation on it. Could someone help me with the setup required to activate or use the recovery behaviour?
To use move_slow_and_clear or any custom recovery behavior, one needs to either append the following lines in move base params yaml file, or create a new yaml file and add it in the navigation launch file:
recovery_behaviors:
- name: 'move_slow_and_clear'
type: 'move_slow_and_clear/MoveSlowAndClear'
Asked: 2021-09-13 11:51:01 -0500
Seen: 94 times
Last updated: Sep 14 '21
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
Have you looked at the source code to understand behaviour: https://github.com/ros-planning/navig...
To use it:
~<name>/clearing_distance (double, default: 0.5)
The radius away from the robot in meters inside of which obstacles will be cleared. ~<name>/limited_trans_speed (double, default: 0.25)
The translational speed in meters/second the robot will be limited to while executing this recovery behavior. ~<name>/limited_rot_speed (double, default: 0.25)
The rotational speed in radians/second the robot will be limited to while executing this recovery behavior. ~<name>/limited_distance (double, default: 0.3)
The distance in meters the robot must move before the speed restrictions are lifted. ~<name>/planner_namespace (string, default: "DWAPlannerROS")
The name of the planner to reconfigure parameters on. Specifically the max_trans_vel and max_rot_vel parameters will be reconfigured within this namespace.
These are parameters which can be adjusted, I know. But how can one enable this recovery behaviour? Moreover, it is not mentioned here: http://wiki.ros.org/nav_core#Recovery...
Agree, the documentation is lacking this info. Thank you for clarifying. I see you find the answer already, where did you find it?
I asked some of the folks I know. Thanks for helping :)
I have edited the wiki page to help others: http://wiki.ros.org/move_slow_and_cle...
Great contribution! Thank you.