About navigation stack's parameter "holonomic_robot" [closed]

asked 2013-01-24 13:24:14 -0600

moyashi gravatar image

updated 2015-07-14 11:42:04 -0600

130s gravatar image

Hi, everyone.

I'm using nav stack with a holonomic robot, which has omni wheels. I set the parameter holonomic_robot to "true", however it moves in almost the same as false.

Even if I set the goal position to the just side of the robot (with no orientation variation), it moves as followings.

rotate -> go forward -> rotate

Non-zero y velocity was sent EVERY once in a while. But I couldn't see the motion clearly because non-zero x velocity and theta velocity were also sent at that time.

I have two questions.

  1. Doesn't Nav stack support the movement with which a robot adjusts position and orientation simultaneously (Can't a robot go in a diagonal direction keeping the orientation?) ?
  2. What y_vels's (/move_base/TrajectoryPlannerROS/y_vels, default: [-0.3, -0.1, 0.1, 0.3]) values mean respectively ?

Thanks in advance.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-10-16 13:19:57.182624


I have the same problem. Have you been able to fix it?

Jose Luis gravatar image Jose Luis  ( 2013-11-26 21:15:05 -0600 )edit