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Using move_base to turn wheels?

asked 2012-08-12 08:51:58 -0600

bkim gravatar image

updated 2012-08-13 06:30:58 -0600

joq gravatar image

Hello,

I am currently using move_base(with default local and global planners) to get the robot in the desired position. My problem is that when my robot(2 wheeled, built using real wheelchair) is told to move forward right or forward left, it is making a path that goes around too much to get there. In other words, if the robot is located at (0,0) and is commanded to move to (1,1), it is not turning its wheels enough to get there more directly and rather makes a curvy path with large radius than necessary. Is there a parameter that I can tweak to make the radius of path smaller?

I would appreciate any help, Thank you.

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I want to ask something, did you make sure that your motor controller followed the velocity commands sent by move_base(/cmd_vel topic) ?

cagatay gravatar imagecagatay ( 2012-08-12 11:13:57 -0600 )edit

Yes, I am sure I did otherwise the robot would not move at all. My problem is that the planners in move_base are planning paths that are too curvy (i.e. radius larger than necessary), and was wondering if there is anything I can do to make this smaller.

bkim gravatar imagebkim ( 2012-08-13 02:29:14 -0600 )edit

You should probably edit your question so it mentions which version of ROS you are using, and what OS.

joq gravatar imagejoq ( 2012-08-13 06:31:58 -0600 )edit

@bkim: Could you post a rosbag of the robot while attempting to execute this plan? Also, include a screenshot of the paths planned and your navigation config files. Do you get curvy paths if you plan to a point further away (say [10,10])?

Eric Perko gravatar imageEric Perko ( 2012-08-13 07:09:45 -0600 )edit

Check if You are using AMCL. Your Output seems to use some planning algorithm.

sunilsulania9192 gravatar imagesunilsulania9192 ( 2012-08-15 22:09:36 -0600 )edit

Please post your answer (below), so people will know this question has been resolved.

joq gravatar imagejoq ( 2012-09-01 06:18:23 -0600 )edit

@bkim's comment has been converted to an answer and I have marked it as accepted.

Eric Perko gravatar imageEric Perko ( 2012-12-18 07:58:28 -0600 )edit

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answered 2012-09-01 06:03:23 -0600

bkim gravatar image

Thank you all for your help guys. I found that it was the problem with the PID controller, which was written by some guy before me. PID controller was set such that it limits the gain in angular velocity - quite amused that move_base actually take PID parameters into account.

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Asked: 2012-08-12 08:51:58 -0600

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Last updated: Aug 12 '12