Eitan

On Fri, May 28, 2010 at 5:22 AM, Andreas Vogt <andreas.vogt@dfki.de> wrote:

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 <wisesage5001@gmail.com

> <mailto:wisesage5001@gmail.com>> 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

> <eitan@willowgarage.com <mailto:eitan@willowgarage.com>> 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

> <andreas.vogt@dfki.de <mailto: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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--

Andreas Vogt
Logistics and Production Robotics

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 218-64140
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E-Mail: andreas.vogt@dfki.de

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