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How to control turning in Navigation Stack

asked 2022-01-09 08:45:08 -0500

wolf gravatar image

updated 2022-02-13 16:50:30 -0500

lucasw gravatar image

I have a omnidirectional skid steer drive robot. I am implementing Navigation stack for it. Using default planners and default configuration. Whenever I give a close distance goal to the bot it takes huge turns to correct its orientation and misses the target. What should I do to either make it take sharp turns or disable x velocity while on rotation

    TrajectoryPlannerROS:
  max_vel_x: 0.65
  min_vel_x: 0
  max_vel_theta: 2
  min_in_place_vel_theta: 1

  acc_lim_theta: 5.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false
  meter_scoring: true

  xy_goal_tolerance: 0.2
  yaw_goal_tolerance: 0.1
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answered 2022-01-10 07:53:53 -0500

osilva gravatar image

Try adjusting min_in_place_vel_theta default is 0.4 not 1.0, setting at 1 rotates at 1 radian or 57 degrees per second. This parameter sets the minimum rotational velocity allowed for the base while performing in-place rotations in radians/sec.

More info found here: http://wiki.ros.org/base_local_planner

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Thanks! That made some improvement.

wolf gravatar image wolf  ( 2022-01-14 11:42:49 -0500 )edit

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Asked: 2022-01-09 08:45:08 -0500

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Last updated: Jan 10 '22