[ros-users] base_local_planner accaleration bug ?

[Andreas Vogt]

Hi,
I am running my planner with this parameters:

TrajectoryPlannerROS:
   max_vel_x: 0.2
   min_vel_x: 0.01
   max_rotational_vel: 0.23
   min_in_place_rotational_vel: 0.01

   acc_limit_th: 0.05
   acc_limit_x: 0.05
   acc_limit_y: 0.05

   holonomic_robot: false

but sometimes it seems that the velocity (angular.z here omega) jumps
without account for the acceleration limit. In my case from zero to
max_rotational_vel.


Any ideas ?

Andreas





[ERROR] 170.700000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.230000
0.000000
[ERROR] 170.754000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.230000
0.000000
[ERROR] 170.805000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355
0.000000
[ERROR] 170.855000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355
0.000000
[ERROR] 170.902000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355
0.000000
[ERROR] 170.952000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355
0.000000
[ERROR] 171.003000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.140928
0.000000
[ERROR] 171.053000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000
0.000000
[ERROR] 171.118000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000
0.000000
[ERROR] 171.152000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000
0.000000
[ERROR] 171.201000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000
0.000000
[ERROR] 171.250000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000
0.000000
[ERROR] 171.302000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000
0.000000
[ERROR] 171.353000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000
0.000000
[ERROR] 171.401000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000
0.000000
[ERROR] 171.450000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000
0.000000
[ERROR] 171.501000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000
0.000000
[ERROR] 171.550000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000
0.000000
[ERROR] 171.609000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000
0.000000




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