Dear Eitan,
Thanks for your reply. I am going to work on the move_base stuff on
Friday again. I will try out the things you mentioned.
Regards
Christian
Am 21.06.2010 21:30, schrieb Eitan Marder-Eppstein:
> 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 <mailto: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
>
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