[ros-users] TrajectoryPlannerROS does not take parameter

Eitan Marder-Eppstein eitan at willowgarage.com
Mon Sep 27 22:36:30 UTC 2010


First off, I'm glad things are working, but I'm also surprised that the rate
at which odometry publishes has anything to do with the base_local_planner
respecting maximum velocity limits. I'll try upping the rate that stage
publishes odometry information to see if I can reproduce this, but our robot
also publishes odometry information at 30Hz and, much like Eric, we don't
see this problem. Also, like Eric asked, I'd love to know if changing the
odometry rate back to what it was reliable causes this failure... I'd just
really like to track down what's going on. Its just a really strange
solution to the problem.

Thanks a bunch,


On Mon, Sep 27, 2010 at 3:24 PM, Eric Perko <wisesage5001 at gmail.com> wrote:

> Patrick,
> Can you confirm that changing just your odometry publishing rate back to
> 20Hz causes the failure? The last person with a similar problem was unable
> to reproduce when he changed his lidar rate back to what it was previously.
> Also, I'm a bit surprised that lowering your odometry rate fixed things - I
> publish odometry at 50Hz and don't see this sort of problem...
> - Eric
> On Mon, Sep 27, 2010 at 5:55 PM, Patrick Goebel <
> patrick at casbs.stanford.edu> wrote:
>> Hi Eitan,
>> No sooner had I sent you that last message that it occurred to me to try
>> a slower odometry publishing rate on my base controller.  I had it set
>> to 20 Hz but took it down to 10 Hz and now everything is working
>> beautifully.  So I guess the difference between the real robot and the
>> simulation is that the simulation can keep up with (almost) any rate.
>> In the meantime, I am tickled to finally have all this working so thanks
>> again for your help!
>> Patrick Goebel
>> Behavioral Sciences
>> Stanford University
>> > Patrick,
>> >
>> > There are two things to try:
>> >
>> > 1) Record a bag file of the problem on the robot. Just record everything
>> > since it should only take a couple of seconds to see the problem from
>> > what
>> > you've been saying. If you send me the bag, I can try to track down
>> > what's
>> > going on that way.
>> >
>> > 2) Reproduce the problem in simulation. If you can get this to happen in
>> > stage in a reproducible manner, that would make it super easy to track
>> > down.
>> > You can use the navigation_stage
>> > (http://www.ros.org/wiki/navigation_stage)
>> > package as a starting ground, make whatever modifications you want,
>> > and post
>> > a patch. I tried this in the morning with your configuration files to
>> > attempt to reproduce the result, but didn't have any success.
>> >
>> > I'm still a bit baffled about my inability to reproduce this in
>> > simulation
>> > as I don't see what would be different between that and a real robot.
>> > Perhaps the bag file will help. I'll also take a pass over the code
>> > again as
>> > well to see if there's something glaring that jumps out at me.
>> >
>> > Hope all is well,
>> >
>> > Eitan
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