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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