Christian,
Sorry that its taken me so long to get back to you. Things have been really hectic for me at work lately and I wanted to get a chance to sit down and use the configuration files you sent in to try to reproduce the problem. With that said, I've attempted to reproduce your problem using navigation 1.0.7 and your configuration files running in stage and have been unable to do so. For me, the velocity limits always fall between those specified by the parameters. I took a look at the bag files you posted, and I definitely agree that something is publishing velocity commands outside of the specified range and even backwards which is really weird... but I just can't get my setup to do this.
I guess I have a few more questions that I hope will help to shed light on this:
1) Is this something that you can reproduce in a simulator like stage or gazebo? If so, could you tar or zip the directory with all of your launch/configuration files and send it to me so I can test the exact same thing you have? Like I mentioned before, I copied the files you posted, and should've been pretty close on this attempt, but was unable to reproduce the problems you're seeing. If you were to get the bug to occur reliably in simulation, I'm pretty confident that I could track it down. If you can't get the problem to occur in simulation, this will also give clues about whether something specific to your robot is exposing the bug.
2) How often do you see this behavior? Is it every time you run the robot, or does it only occur when you give certain goals or something weird like that?
3) Can you check your odometry source and make sure that it is publishing reasonable values for the robot. I'm wondering if there's a case where really bad odometry values expose a bug in the code or something funny like that.
I wish that I could provide more insight, but I'm afraid this is the best I can do for now. Sorry again in taking some time getting back to you.
Hope all is well,
Eitan
On Sat, Jun 19, 2010 at 8:23 AM, Christian Verbeek <verbeek@servicerobotics.eu> wrote:
Dear Eitan,
Do you have any suggestions or hints what I could try to overcome this
weird behaviour like driving backwards? To get a robust and meaningful
path planning is critical to my whole project and the main reason why I
give ROS a try in my projects.
Regards
Christian
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users
_______________________________________________ ros-users mailing list ros-users@code.ros.org https://code.ros.org/mailman/listinfo/ros-users
-- ___________________________________________ REC GmbH Dr. Christian Verbeek Robert-Koch-Str. 2, 82152 Planegg Tel: +49 89 85689672 Fax: +49 89 85902327 Mobile: +49 160 7056589 e-mail: verbeek@servicerobotics.eu Geschäftsführer: Dr. Christian Verbeek Registergericht: AG München (HRB 154463) ____________________________________________