Fred,<div><br><div class="gmail_quote">On Tue, Nov 30, 2010 at 3:39 PM, FrederikHeger <span dir="ltr">&lt;<a href="mailto:frederik.heger@vecna.com">frederik.heger@vecna.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
<br>
I am trying to switch from running move_base with the default<br>
trajectory_planner_ros and a stage simulation at 10Hz (working) to the same<br>
thing but running at 100Hz. This is in preparation of running things on a<br>
real robot in the future.<br>
<br>
I changed the controller_frequency parameter in move_base.xml (changed to<br>
100) and the interval_sim parameter (changed to 10) in the world file used<br>
for stage. I also noticed a number of places in trajectory_planner.cpp where<br>
&quot;.1&quot; was hardcoded as the time increment. I changed those to &quot;.01&quot;.<br></blockquote><div><br></div><div>A couple of things here. First off, you shouldn&#39;t have to change the controller_frequency parameter to 100Hz to get decent behavior on a real robot. In fact, depending on the machine you&#39;re using on your robot, you may have trouble with CPU usage when trying to run the local planner that quickly. Is there any reason in particular that you need to control your base at 100Hz? We&#39;ve found control rates of between 10-20Hz to work pretty well on our robot here.</div>
<div><br></div><div>Second, the &quot;.1&quot; hard-coded time increment when using dwa for the local planner should really be a parameter, I&#39;ve ticketed it here: <a href="https://code.ros.org/trac/ros-pkg/ticket/4601">https://code.ros.org/trac/ros-pkg/ticket/4601</a>]</div>
<meta http-equiv="content-type" content="text/html; charset=utf-8"><div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
<br>
Trying to run what used to work at 10Hz, I now see a robot that moves way<br>
faster than it did before. It looks like there is still something assuming<br>
things are running at 10Hz.<br></blockquote><div><br></div><div>I bet you got the hard coded &quot;.1&quot; in the trajectory_planner_ros.cpp file, but those are only used simulating trajectories that rotate in place... there are probably some that you missed in the trajectory_plannner.cpp file. Still not sure how I never noticed that stuff being hard coded.</div>
<div><br></div><div>Hope this helps,</div><div><br></div><div>Eitan</div><div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
<br>
Any suggestions on where to look or how to approach this issue better would<br>
be appreciated.<br>
<br>
Thanks,<br>
Fred<br>
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