Christian,

That's pretty strange, I just tried to reproduce this and failed... my
"max_vel_x" limit was obeyed.

Is it possible that move_base is not the only publisher to the cmd_vel topic
in your system? I know that's probably unlikely, but its the only
explanation for this that I can think of off the top of my head.

If that's not the case, can you post your full set of configuration files
that you use to bring up the navigation stack and list the version number of
navigation that you're using, (this will be in the CMakeLists.txt file in
the stack directory) and I can try to reproduce it again.

Hope all is well,

Eitan

On Fri, Jun 11, 2010 at 6:00 AM, Christian Verbeek <
verbeek@servicerobotics.eu> wrote:

> Dear ROS users,
>
> I am using the base_local_planner from the navigation stack. All is up
> and running and now I am doing the fine tuning.
>
> My base_local_planner_params.yaml looks like this:
>
> TrajectoryPlannerROS:
>  max_vel_x: 0.2
>  min_vel_x: 0.05
>  max_rotational_vel: 0.4
>  min_in_place_rotational_vel: 0.15
> ....
>
> Even though I set max_vel_x to 0.2 and
> rosparam get /move_base/TrajectoryPlannerROS/max_vel_x
> returns 0.2 (so it is really set)
>
> the cmd_vel generated by move_base has linear: x: > 0.5
>
> So the seen cmd_vel x velocity is even higher than the 0.5 which should
> be the default maximum. My 0.2 parameter is ignored completely.
>
> The other parameters seem to work as cmd_vel angular z is never higher
> than the given 0.4.
>
> Does anyone have an idea?
>
> Regards
> Christian
>
> --
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