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2019-02-18 09:48:31 -0500 marked best answer move_base/base_local_planner maximum velocity

I'm currently working on a large outdoor robot that requires high speeds to operate effectively. As such, I've tried to increase the command velocity output by move_base and base_local_planner, but upon increasing the max_vel_x parameter, I see a cap in the cmd_vel message output by move_base. My current configuration can be found here.

I have the max_vel_x parameter set to 10.0 m/s, but the maximum cmd_vel output by move_base is ~2.75m/s. I've observed this both in a simulated environment and on the actual robot.

I assumed that the forward simulation time might have something to do with it. I figured, "if the robot can't simulate far enough into the future, it may not allow itself to move faster than it can predict." I tested this theory by setting the sim_time parameter from 1.7 to 3.0. What I noticed was the exact opposite of what I predicted. With a higher sim_time, the maximum output cmd_vel was ~1.8m/s (lower than the previous). A sim_time of 5.0 resulted in a maximum cmd_vel of ~1m/s.

My question is: what are the factors that play into the calculation of the cmd_vel message output by base_local_planner, and is there any way to make it move faster? We're looking to achieve ~10m/s.

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2017-06-15 13:12:42 -0500 marked best answer Robot "Headlights" in Gazebo

Is it possible to include headlights (or any type of mounted lighting fixture) on your robot model in Gazebo?

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2015-08-04 10:07:34 -0500 marked best answer Costmap2d inflation radius

I've been trying to increase the inflation radius of obstacles in the local_costmap for move_base. The problem that I've noticed is that the inflation radius as viewed by Costmap2dPublisher never changes. Using rosparam get, I verified that the inflation_radius parameter was correctly set, but even setting this value as high as 10m has no effect. It seems that the inflation radius of the obstacles is directly linked to the circumscribed radius of the robot footprint.

If I set the robot footprint to a 0.5m x 0.5m box, the inflation radius is 0.25m. If I set the robot footprint to a 0.8m x 0.8m box, the inflation radius is 0.4m. From the documentation on costmap_2d, it seemed that I could set my own inflation radius, but I've been unable to do so.

I would like to be able to set two different values for the footprint and the inflation_radius. How can I go about doing so?

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