Andreas,<div><br></div><div>Instead of </div><div><br></div><div> acc_limit_th: 0.05<br> acc_limit_x: 0.05<br> acc_limit_y: 0.05</div><div><br></div><div>Can you try using:</div><div><br></div><div> acc_lim_th: 0.05<br> acc_lim_x: 0.05<br>
acc_lim_y: 0.05</div><div><br></div><div>It turns out that I used the wrong names for these parameters in the <a href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup</a> tutorial that tells you how to set up your robot. I've just fixed the page. The documentation here: <a href="http://www.ros.org/wiki/base_local_planner#Parameters">http://www.ros.org/wiki/base_local_planner#Parameters</a> is correct, but I apologize for the confusion I've caused. There are probably a number of robots out there using the wrong parameter names.</div>
<div><br></div><div>Try changing those parameters to be correct and let me know what happens.</div><div><br></div><div>Hope all is well,</div><div><br></div><div>Eitan<br><br><div class="gmail_quote">On Fri, May 28, 2010 at 5:22 AM, Andreas Vogt <span dir="ltr"><<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;"><br>
Hi,<br>
<br>
thanks for the code but the velocity are still jumps.<br>
<br>
Andreas<br>
<br>
Eitan Marder-Eppstein schrieb:<br>
<div class="im">> Eric,<br>
><br>
> That ticket didn't include the linear case originally, but it does<br>
> now. Thanks for pointing it out. The PR2 has such high acceleration<br>
> limits that its easy for me to overlook this stuff, but it really<br>
> matters for robots with lower acceleration limits.<br>
><br>
> Hope all is well,<br>
><br>
> Eitan<br>
><br>
> On Thu, May 27, 2010 at 11:09 AM, Eric Perko <<a href="mailto:wisesage5001@gmail.com">wisesage5001@gmail.com</a><br>
</div><div class="im">> <mailto:<a href="mailto:wisesage5001@gmail.com">wisesage5001@gmail.com</a>>> wrote:<br>
><br>
> Eitan,<br>
><br>
> Does that ticket also include taking into account linear decelerations<br>
> as well as rotational limits? I've been using the TrajectoryPlanner<br>
> with reasonable acceleration limits for my differential drive robot<br>
> (say 0.25 m/s^2 for acc_limit_x) and, while we seem to accelerate<br>
> smoothly, upon reaching a goal within tolerance the system sends<br>
> abrupt halt commands. Does the TrajectoryPlanner expect another piece<br>
> of software to modulate the speeds to account for safe deceleration or<br>
> should I be seeing smooth deceleration as the robot approaches the<br>
> goal?<br>
><br>
> - Eric<br>
><br>
> On Thu, May 27, 2010 at 2:00 PM, Eitan Marder-Eppstein<br>
</div><div class="im">> <<a href="mailto:eitan@willowgarage.com">eitan@willowgarage.com</a> <mailto:<a href="mailto:eitan@willowgarage.com">eitan@willowgarage.com</a>>> wrote:<br>
> > Andreas,<br>
> ><br>
> > This could be due to the fact that the rotate to goal code<br>
> doesn't take the<br>
> > robot's acceleration limits into account. There's actually a<br>
> ticket open<br>
> > against it here: <a href="https://code.ros.org/trac/ros-pkg/ticket/3127" target="_blank">https://code.ros.org/trac/ros-pkg/ticket/3127</a><br>
> that got a<br>
> > bit lost in the pile. I'm going to change the priority on it to<br>
> make sure<br>
> > that I get to it in the next week or so since it seems to be<br>
> affecting you.<br>
> ><br>
> > Hope all is well,<br>
> ><br>
> > Eitan<br>
> ><br>
> ><br>
> > On Thu, May 27, 2010 at 12:13 AM, Andreas Vogt<br>
</div><div><div></div><div class="h5">> <<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a> <mailto:<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a>>> wrote:<br>
> >><br>
> >> Hi,<br>
> >> I am running my planner with this parameters:<br>
> >><br>
> >> TrajectoryPlannerROS:<br>
> >> max_vel_x: 0.2<br>
> >> min_vel_x: 0.01<br>
> >> max_rotational_vel: 0.23<br>
> >> min_in_place_rotational_vel: 0.01<br>
> >><br>
> >> acc_limit_th: 0.05<br>
> >> acc_limit_x: 0.05<br>
> >> acc_limit_y: 0.05<br>
> >><br>
> >> holonomic_robot: false<br>
> >><br>
> >> but sometimes it seems that the velocity (angular.z here omega)<br>
> jumps<br>
> >> without account for the acceleration. In my case from zero to<br>
> >> max_rotational_vel.<br>
> >><br>
> >><br>
> >> Any ideas ?<br>
> >><br>
> >> Andreas<br>
> >><br>
> >><br>
> >><br>
> >><br>
> >><br>
> >> [ERROR] 170.700000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.230000<br>
> >> 0.000000<br>
> >> [ERROR] 170.754000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.230000<br>
> >> 0.000000<br>
> >> [ERROR] 170.805000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355<br>
> >> 0.000000<br>
> >> [ERROR] 170.855000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355<br>
> >> 0.000000<br>
> >> [ERROR] 170.902000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355<br>
> >> 0.000000<br>
> >> [ERROR] 170.952000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.173355<br>
> >> 0.000000<br>
> >> [ERROR] 171.003000000: ICP: 0.000000 VEL: 0.000000 OMEGA: 0.140928<br>
> >> 0.000000<br>
> >> [ERROR] 171.053000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000<br>
> >> 0.000000<br>
> >> [ERROR] 171.118000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000<br>
> >> 0.000000<br>
> >> [ERROR] 171.152000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000<br>
> >> 0.000000<br>
> >> [ERROR] 171.201000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000<br>
> >> 0.000000<br>
> >> [ERROR] 171.250000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000<br>
> >> 0.000000<br>
> >> [ERROR] 171.302000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000<br>
> >> 0.000000<br>
> >> [ERROR] 171.353000000: ICP: 10.000000 VEL: 0.105000 OMEGA: 0.000000<br>
> >> 0.000000<br>
> >> [ERROR] 171.401000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000<br>
> >> 0.000000<br>
> >> [ERROR] 171.450000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000<br>
> >> 0.000000<br>
> >> [ERROR] 171.501000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000<br>
> >> 0.000000<br>
> >> [ERROR] 171.550000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000<br>
> >> 0.000000<br>
> >> [ERROR] 171.609000000: ICP: 0.000000 VEL: 0.010000 OMEGA: -0.230000<br>
> >> 0.000000<br>
> >><br>
> >><br>
> >><br>
> >><br>
> >> _______________________________________________<br>
> >> ros-users mailing list<br>
</div></div>> >> <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a> <mailto:<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a>><br>
<div class="im">> >> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
> ><br>
> ><br>
> > _______________________________________________<br>
> > ros-users mailing list<br>
</div>> > <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a> <mailto:<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a>><br>
<div class="im">> > <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
> ><br>
> ><br>
> _______________________________________________<br>
> ros-users mailing list<br>
</div>> <a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a> <mailto:<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a>><br>
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><br>
><br>
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><br>
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><br>
<br>
<br>
</div>--<br>
<br>
Andreas Vogt<br>
Logistics and Production Robotics<br>
<br>
DFKI Bremen<br>
Robotics Innovation Center<br>
Robert-Hooke-Straße 5<br>
28359 Bremen, Germany<br>
<br>
Phone: +49 (0)421 218-64140<br>
Fax: +49 (0)421 218-64150<br>
E-Mail: <a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a><br>
<br>
Weitere Informationen: <a href="http://www.dfki.de/robotik" target="_blank">http://www.dfki.de/robotik</a><br>
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