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change the SBPL parameter during the running of move_base

asked 2022-11-24 12:34:01 -0500

mwjhc gravatar image

Hi! i use now sbpl lattice planner as a global path planner for my robot. and i try to optimize parameters of sbpl. but my launch file is a bit heavy, so it takes too long to restart.

because of this, I want to change the parameters of sbpl while move_base is running and test the parameters.

I used rosparam api getparam und setparam to do this but it didn't work...

after this i try to do this with dynamic_reconfigure (http://wiki.ros.org/dynamic_reconfigu...)

but i read this question and answer (https://answers.ros.org/question/3782...) because of that i'm not sure if i can change the parameter of sbpl through dynamic_reconfigure.

Is there any way to change the parameters of sbpl while move_base is running? Should I always run move_base again to optimize parameters?

Thanks for your Answer!!

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answered 2022-12-13 20:37:14 -0500

Hulkthehunter gravatar image

What parameters are you trying to optimize?

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I am sorry for late to answer it! i want to optimize allocate_time, initial_epsilon and planner_type

mwjhc gravatar image mwjhc  ( 2023-01-19 19:03:28 -0500 )edit

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Asked: 2022-11-24 12:34:01 -0500

Seen: 55 times

Last updated: Dec 13 '22