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 <andreas.vogt@dfki.de> 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
>
>
>
>
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