dyan's profile - activity

I want to change wireless network dynamically.I use robot_upstart package to automatically start the robot launch file when reboot machine. Before I want to change wireless network with command linenmcli device wifi connect <SSID> password <PASSWORD> everything is good.I have tried subprocess,envoy and os.system in my python scripts,they are work well with roslaunch,but they are all not work with the service generated by robot_upstart.But I have tried manually write the scripts into service file,it can change wireless network.Is there something wrong with nmcli and robot_upstart?

how to change wireless network when start robot with reboot machine? I want to change wireless network dynamically.I use

clear_costmap_recovery I want to know why this recovery_behavoir aggressive_reset distance is 4*circumscribed_radius? I

I have installed range_sensor_layer for local_costmap. in the local_costmap_param.yaml:

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_footprint
  update_frequency: 3.0
  publish_frequency: 1.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
  transform_tolerance: 1.0
  map_type: costmap
  plugins:
     - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}

the range_sensor_layer has some parameters,is it possible to change them in this yaml?

I found some code in costmap_2d_ros.cpp line 114:

if (private_nh.hasParam("plugins"))
{
  XmlRpc::XmlRpcValue my_list;
  private_nh.getParam("plugins", my_list);
  for (int32_t i = 0; i < my_list.size(); ++i)
  {
    std::string pname = static_cast<std::string>(my_list[i]["name"]);
    std::string type = static_cast<std::string>(my_list[i]["type"]);
    ROS_INFO("Using plugin \"%s\"", pname.c_str());

    boost::shared_ptr<Layer> plugin = plugin_loader_.createInstance(type);
    layered_costmap_->addPlugin(plugin);
    plugin->initialize(layered_costmap_, name + "/" + pname, &tf_);
  }
}

It looks like should be:

......
plugins:
     - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}
sonar:
     ......
     ......

but my sonar on the way,I cannot test this.

@mig: thanks for confirm

smaller the local_costmap width and height should be help to this,if it is odom or wheel deviation.And up pdist_scale ma

Can I change parameter of plugins in yaml I have installed range_sensor_layer for local_costmap. in the local_costmap_pa

Can I change parameter of plugins in yaml I have installed range_sensor_layer for local_costmap. in the local_costmap_pa

Want to publish() in main and also in child thread on one rospy.Publisher(),is this safe?

After rospy.Subscriber(),after a period of time or after an event this may no longer need,how to close this subscriber