[ros-users] TrajectoryPlannerROS does not take parameter

[William Woodall]

I believe that the max_vel_x should be obeyed regardless, but you might
check what your acceleration limit is, it might be possible that it is
ramping up the speed initially to meet the desired acceleration.  Shot in
the dark, but I hope it helps.

Thanks,

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
w at auburn.edu
wjwwood at gmail.com
256-345-9938
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


On Mon, Jun 14, 2010 at 11:45 AM, Eitan Marder-Eppstein <
eitan at willowgarage.com> wrote:

> Christian,
>
> I tried to respond the last time you sent this... maybe it didn't go
> through for some reason.
>
> You can find my response below:
>
> Christian,
>
> That's pretty strange, I just tried to reproduce this and failed... my
> "max_vel_x" limit was obeyed.
>
> Is it possible that move_base is not the only publisher to the cmd_vel
> topic in your system? I know that's probably unlikely, but its the only
> explanation for this that I can think of off the top of my head.
>
> If that'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're using, (this will be in the CMakeLists.txt file in
> the stack directory) and I can try to reproduce it again.
>
> Hope all is well,
>
> Eitan
>
>
> On Mon, Jun 14, 2010 at 3:05 AM, Christian Verbeek <
> verbeek at servicerobotics.eu> wrote:
>
>> Dear ROS users,
>>
>> I am using the base_local_planner from the navigation stack. All is up
>> and running and now I am doing the fine tuning.
>>
>> My base_local_planner_params.yaml looks like this:
>>
>> TrajectoryPlannerROS:
>>  max_vel_x: 0.2
>>  min_vel_x: 0.05
>>  max_rotational_vel: 0.4
>>  min_in_place_rotational_vel: 0.15
>> ....
>>
>> Even though I set max_vel_x to 0.2 and
>> rosparam get /move_base/TrajectoryPlannerROS/max_vel_x
>> returns 0.2 (so it is really set)
>>
>> the cmd_vel generated by move_base has linear: x: > 0.5
>>
>> So the seen cmd_vel x velocity is even higher than the 0.5 which should
>> be the default maximum. My 0.2 parameter is ignored completely.
>>
>> The other parameters seem to work as cmd_vel angular z is never higher
>> than the given 0.4.
>>
>> Does anyone have an idea?
>>
>> Regards
>> Christian
>>
>> --
>> ___________________________________________
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>> Robert-Koch-Str. 2, 82152 Planegg
>>
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>>
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>
>
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