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How can I change the robot's max velocity programmatically?

asked 2012-08-24 16:55:10 -0500

updated 2014-01-28 17:13:27 -0500

ngrennan gravatar image


I would like to change the max_vel_x parameter programmatically, at runtime to increase or decrease the speed of the robot, based on environmental conditions. Is this possible with the TrajectoryPlannerROS base local planner?

I am using the SimpleActionClient API to send goal locations to the robot. For some of these goals, I would like to be able to also decrease the maximum speed.

Thanks in advance, Charles

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After some more investigation, I learned that I can use the dynamic_reconfigure tool, and that it has a command line. While not an elegant solution, I could execute a system command from my code, i.e. rosrun dynamic_reconfigure dynparam set /robot_0/move_base/TrajectoryPlannerROS max_vel_x 0.1

ceverett gravatar image ceverett  ( 2012-08-24 17:23:28 -0500 )edit

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answered 2012-08-29 06:26:19 -0500

Thomas D gravatar image

I asked something similar about a C++ API for a dynamic reconfigure client here and Pablo gave a good answer for how to get around the lack of such an API. He suggested using the service


with topics


That service and those topics are provided by the dynamic reconfigure server.

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answered 2013-05-03 16:52:41 -0500

jorge gravatar image

I make a system call to the dynamic_reconfigure server:

system("rosrun dynamic_reconfigure dynparam set <node_name> \"{ param1: value1, param2: value2, ... }\"");
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answered 2012-08-29 05:47:15 -0500

You can use dynamic_reconfigure python API. See point 1.4

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Asked: 2012-08-24 16:55:10 -0500

Seen: 2,032 times

Last updated: May 03 '13