Christian,<br><br>I tried to respond the last time you sent this... maybe it didn&#39;t go through for some reason.<br><br>You can find my response below:<br><br>Christian,<br><br>That&#39;s pretty strange, I just tried to reproduce this and failed... my &quot;max_vel_x&quot; limit was obeyed.<br>
<br>Is
it possible that move_base is not the only publisher to the cmd_vel
topic in your system? I know that&#39;s probably unlikely, but its the only
explanation for this that I can think of off the top of my head.<br>
<br>If that&#39;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&#39;re using, (this will be in the
CMakeLists.txt file in the stack directory) and I can try to reproduce
it again.<br>
<br>Hope all is well,<br><font color="#888888"><br>Eitan</font><br><br><div class="gmail_quote">On Mon, Jun 14, 2010 at 3:05 AM, Christian Verbeek <span dir="ltr">&lt;<a href="mailto:verbeek@servicerobotics.eu">verbeek@servicerobotics.eu</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">Dear ROS users,<br>
<br>
I am using the base_local_planner from the navigation stack. All is up<br>
and running and now I am doing the fine tuning.<br>
<br>
My base_local_planner_params.yaml looks like this:<br>
<br>
TrajectoryPlannerROS:<br>
  max_vel_x: 0.2<br>
  min_vel_x: 0.05<br>
  max_rotational_vel: 0.4<br>
  min_in_place_rotational_vel: 0.15<br>
....<br>
<br>
Even though I set max_vel_x to 0.2 and<br>
rosparam get /move_base/TrajectoryPlannerROS/max_vel_x<br>
returns 0.2 (so it is really set)<br>
<br>
the cmd_vel generated by move_base has linear: x: &gt; 0.5<br>
<br>
So the seen cmd_vel x velocity is even higher than the 0.5 which should<br>
be the default maximum. My 0.2 parameter is ignored completely.<br>
<br>
The other parameters seem to work as cmd_vel angular z is never higher<br>
than the given 0.4.<br>
<br>
Does anyone have an idea?<br>
<br>
Regards<br>
Christian<br>
<br>
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</blockquote></div><br>