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What is the relationship between costmap config and URDF limits [closed]

asked 2013-09-18 07:55:48 -0500

rnunziata gravatar image

updated 2013-09-19 03:56:54 -0500

What is the relationship between costmap footprint and URDF model collision definition. Other values like joint velocity and effort limits in URDF and limits in move-base config file how is the relationship to be view. Is the URDF the limiting factor or does move base over ride? I found some information here: https://github.com/ros-controls/ros_control/wiki/joint_limits_interface I am guessing that URDF specifications limits and footprint take precidence and anything set in move-base should be aliened with those setting.

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Closed for the following reason the question is answered, right answer was accepted by rnunziata
close date 2013-09-20 07:40:53

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answered 2013-09-19 04:26:52 -0500

dornhege gravatar image

Someone might correct me, but my best guess for default move_base is: They are totally independent.

In other words: Both must be setup correctly, matching one each other. In particular move_base doesn't assume the robot configuration to change, i.e. the footprint is constant.

There are some move_base planner implementations that actually take the 3D environment and robot configuration into account.

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Asked: 2013-09-18 07:55:48 -0500

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Last updated: Sep 19 '13