How to set the deceleration parameters in move base parameters?
Hello all,
I am working on a differential drive robot. The Mobile robot is quite large and heavy because of which, whenever it reached the target, there is no deceleration in speed and it stops all of a sudden. I am obviously subscribing the values coming from /cmd_vel topic which I cannot manipulate. Can anybody suggest which parameter to change in order have a decelerated speed before the bot comes to halt.
What you describe is unusual. I've not used teb planner, but most local planners linearly decrease the x velocity when the robot gets close to the goal. However, an "emergency stop" condition will cause the velocity to do a step function down to 0.
Have you set the parameter
free_goal_vel?