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nav2 params for minimum rotation speed of robot

asked 2023-03-21 12:35:52 -0500

wintermute gravatar image

Hello All,

I finally have ros-humble running on my hardware, and I have been able to run the nav2 stack with success.

When the robot is executing a spin, the nav stack sends to robot angular velocity of 0.2 radians / second. Given the size of my robot, which translates to 2.78 rpms, which my PID controller is having a hard time adjusting to.

I understand I can tune my PID controller, or even make it use smaller constrants for low speeds, but however, is there any way to define min_theta used when spinning the robot?

in nav2_params.yaml file there are some definitions for max and min theta, but I am not sure which one is which.

Best Regards, C.

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answered 2023-03-21 19:50:12 -0500

The min / max rotational velocities are the profile min/max for the spin behavior. It has acceleration characteristics by the rotational_acc_lim parameter, as it tries to accelerate to the max speed and then decelerate to stop. Think of the min speed as the minimum rotational speed required to overcome stall torque of the platform (or how slow you might want the robot to rotate as a behavioral element, higher than the stall speed).

The max speed is the one that defines how fast you can go, according to the acceleration profile.

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Asked: 2023-03-21 12:35:52 -0500

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Last updated: Mar 21 '23