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Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image descriptionimage description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

launch

node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"

node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"

node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager"

<param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

<remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

node

launch

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

launch

node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"

node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"

node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager"

<param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

<remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

node

launch

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

launch

node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"

node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"

node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager"

<param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

<remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

node

launch

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

launch

node

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"

node args="manager"> <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"

node args="manager"> <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager"

mobile_base_nodelet_manager">

    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

 <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

  </node>

<launch>

node

launch

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager">
args="manager"/>

  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager">
args="manager"/>

  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">

    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

  </node>

<launch>
</launch>

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">

    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

  </node>

</launch>

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

//Image with error message when tried to run cmd_vel_mux// image description

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">

    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

  </node>

</launch>

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

//Image with error message when tried command to run cmd_vel_mux// image description

bring nodelet_manager and velocity_multiplexer

roslaunch cmd_vel_mux standalone.launch

and following is the example_cfg.yaml

subscribers:

  • name: "Teleoperation"

    topic: "teleop_cmd_vel"

    timeout: 0.3

    priority: 10

  • name: "Navigation"

    topic: "cmd_vel"

    timeout: 0.1

    priority: 0

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">

    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

  </node>

</launch>

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

command to bring nodelet_manager and velocity_multiplexer

roslaunch cmd_vel_mux standalone.launch

and following is the example_cfg.yaml

subscribers:

  • name: "Teleoperation"

    topic: "teleop_cmd_vel"

    timeout: 0.3

    priority: 10

  • name: "Navigation"

    topic: "cmd_vel"

    timeout: 0.1

    priority: 0

UPDATED PART BELOW

What is the role of yocs_velocity_smoother?

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">

    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

  </node>

</launch>

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

command to bring nodelet_manager and velocity_multiplexer

roslaunch cmd_vel_mux standalone.launch

and following is the example_cfg.yaml

subscribers:

  • name: "Teleoperation"

    topic: "teleop_cmd_vel"

    timeout: 0.3

    priority: 10

  • name: "Navigation"

    topic: "cmd_vel"

    timeout: 0.1

    priority: 0

UPDATED PART BELOW

What is the role of yocs_velocity_smoother?

I have tried to set the timeout as follows:

slow down (Navigation) : 0.1 (timeout is less, means teleoperation will take over) speed up (teleoperation): 0.8 (we will wait longer amount of time.)

Even if the outcome is poor, autonomous navigation try to take over the control. Why autonomous doesn't wait for 8 seconds? If it goes like this then adding dynamic reconfigure server will not be fruitful for my experiment.

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">

    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

  </node>

</launch>

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

command to bring nodelet_manager and velocity_multiplexer

roslaunch cmd_vel_mux standalone.launch

and following is the example_cfg.yaml

subscribers:

  • name: "Teleoperation"

    topic: "teleop_cmd_vel"

    timeout: 0.3

    priority: 10

  • name: "Navigation"

    topic: "cmd_vel"

    timeout: 0.1

    priority: 0

UPDATED PART BELOW

What is the role of yocs_velocity_smoother?

I have tried to set the timeout as follows:

slow down (Navigation) : 0.1 (timeout is less, means teleoperation will take over)

speed up (teleoperation): 0.8 (we will wait longer amount of time.)

Even if the outcome is poor, autonomous navigation try to take over the control. Why autonomous doesn't wait for 8 seconds? If it goes like this then adding dynamic reconfigure server will not be fruitful for my experiment.

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">

    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

  </node>

</launch>

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

command to bring nodelet_manager and velocity_multiplexer

roslaunch cmd_vel_mux standalone.launch

and following is the example_cfg.yaml

subscribers:

  • name: "Teleoperation"

    topic: "teleop_cmd_vel"

    timeout: 0.3

    priority: 10

  • name: "Navigation"

    topic: "cmd_vel"

    timeout: 0.1

    priority: 0

UPDATED PART BELOW

What is the role of yocs_velocity_smoother?

I have tried to set the timeout as follows:

slow down (Navigation) : 0.1 (timeout is less, means teleoperation will take over)

speed up (teleoperation): 0.8 8 (we will wait longer amount of time.)

Even if the outcome is poor, autonomous navigation try to take over the control. Why autonomous doesn't wait for 8 seconds? If it goes like this then adding dynamic reconfigure server will not be fruitful for my experiment.

Nodelet Usage and it’s role in designing a complex controller

  1. Why nodelets are required? What are the advantages/disadvantages of it over normal nodes?
  2. I have gone through the tutorial http://wiki.ros.org/kobuki/Tutorials/Kobuki%27s%20Control%20System#Overview Can anyone tell me what are the procedure to implement a velocity command multiplexer with normal nodes (for P3AT)?

  3. Suppose, I have added mux.yaml (http://wiki.ros.org/yocs_cmd_vel_mux) and in the move_base.launch file , I include one more line:

rosparam file="$(find usarsim_inf)/mux.yaml" command="load"

So, whenever,I launch move_base.launch ; mux.yaml get loaded. But how I come to know that teleop and autonomous_behavior consult with this mux.yaml?

image description

I am using P3AT on ROS fuerte on Ubuntu 10.04.

Thank you for any help.

I have added a launch file which is in accordance with the ANSWER:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">

    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>

    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

  </node>

</launch>

Question : Is there any material which explains in detail about How Kobuki's control system use nodelets to switch among different controllers?

command to bring nodelet_manager and velocity_multiplexer

roslaunch cmd_vel_mux standalone.launch

and following is the example_cfg.yaml

subscribers:

  • name: "Teleoperation"

    topic: "teleop_cmd_vel"

    timeout: 0.3

    priority: 10

  • name: "Navigation"

    topic: "cmd_vel"

    timeout: 0.1

    priority: 0

UPDATED PART BELOW

What is the role of yocs_velocity_smoother?

I have tried to set the timeout as follows:

slow down (Navigation) : 0.1 (timeout is less, means teleoperation will take over)

speed up (teleoperation): 8 (we will wait longer amount of time.)

Even if the outcome is poor, autonomous navigation try to take over the control. Why autonomous doesn't wait for 8 seconds? If it goes like this then adding dynamic reconfigure server will not be fruitful for my experiment.

What may be the reason that the robot is not following exactly the example_cfg.yaml? Is it yocs_cmd_vel is for only Kobuki control system?