Hi, thanks for the code but the velocity are still jumps. Andreas Eitan Marder-Eppstein schrieb: > Eric, > > That ticket didn't include the linear case originally, but it does > now. Thanks for pointing it out. The PR2 has such high acceleration > limits that its easy for me to overlook this stuff, but it really > matters for robots with lower acceleration limits. > > Hope all is well, > > Eitan > > On Thu, May 27, 2010 at 11:09 AM, Eric Perko > wrote: > > Eitan, > > Does that ticket also include taking into account linear decelerations > as well as rotational limits? I've been using the TrajectoryPlanner > with reasonable acceleration limits for my differential drive robot > (say 0.25 m/s^2 for acc_limit_x) and, while we seem to accelerate > smoothly, upon reaching a goal within tolerance the system sends > abrupt halt commands. Does the TrajectoryPlanner expect another piece > of software to modulate the speeds to account for safe deceleration or > should I be seeing smooth deceleration as the robot approaches the > goal? > > - Eric > > On Thu, May 27, 2010 at 2:00 PM, Eitan Marder-Eppstein > > wrote: > > Andreas, > > > > This could be due to the fact that the rotate to goal code > doesn't take the > > robot's acceleration limits into account. There's actually a > ticket open > > against it here: https://code.ros.org/trac/ros-pkg/ticket/3127 > that got a > > bit lost in the pile. I'm going to change the priority on it to > make sure > > that I get to it in the next week or so since it seems to be > affecting you. > > > > Hope all is well, > > > > Eitan > > > > > > On Thu, May 27, 2010 at 12:13 AM, Andreas Vogt > > wrote: > >> > >> Hi, > >> I am running my planner with this parameters: > >> > >> TrajectoryPlannerROS: > >> max_vel_x: 0.2 > >> min_vel_x: 0.01 > >> max_rotational_vel: 0.23 > >> min_in_place_rotational_vel: 0.01 > >> > >> acc_limit_th: 0.05 > >> acc_limit_x: 0.05 > >> acc_limit_y: 0.05 > >> > >> holonomic_robot: false > >> > >> but sometimes it seems that the velocity (angular.z here omega) > jumps > >> without account for the acceleration. In my case from zero to > >> max_rotational_vel. > >> > >> > >> Any ideas ? > >> > >> Andreas > >> > >> > >> > >> > >> > >> [ERROR] 170.700000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.230000 > >> 0.000000 > >> [ERROR] 170.754000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.230000 > >> 0.000000 > >> [ERROR] 170.805000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355 > >> 0.000000 > >> [ERROR] 170.855000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355 > >> 0.000000 > >> [ERROR] 170.902000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355 > >> 0.000000 > >> [ERROR] 170.952000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355 > >> 0.000000 > >> [ERROR] 171.003000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.140928 > >> 0.000000 > >> [ERROR] 171.053000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000 > >> 0.000000 > >> [ERROR] 171.118000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000 > >> 0.000000 > >> [ERROR] 171.152000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000 > >> 0.000000 > >> [ERROR] 171.201000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000 > >> 0.000000 > >> [ERROR] 171.250000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000 > >> 0.000000 > >> [ERROR] 171.302000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000 > >> 0.000000 > >> [ERROR] 171.353000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000 > >> 0.000000 > >> [ERROR] 171.401000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000 > >> 0.000000 > >> [ERROR] 171.450000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000 > >> 0.000000 > >> [ERROR] 171.501000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000 > >> 0.000000 > >> [ERROR] 171.550000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000 > >> 0.000000 > >> [ERROR] 171.609000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000 > >> 0.000000 > >> > >> > >> > >> > >> _______________________________________________ > >> ros-users mailing list > >> ros-users@code.ros.org > >> https://code.ros.org/mailman/listinfo/ros-users > > > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > > ------------------------------------------------------------------------ > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Andreas Vogt Logistics and Production Robotics DFKI Bremen Robotics Innovation Center Robert-Hooke-Straße 5 28359 Bremen, Germany Phone: +49 (0)421 218-64140 Fax: +49 (0)421 218-64150 E-Mail: andreas.vogt@dfki.de Weitere Informationen: http://www.dfki.de/robotik ----------------------------------------------------------------------- Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313) USt-Id.Nr.: DE 148646973 Steuernummer: 19/673/0060/3