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Dear Eitan,<br>
<br>
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.<br>
<br>
Regards<br>
Christian<br>
<br>
Am 21.06.2010 21:30, schrieb Eitan Marder-Eppstein:
<blockquote
cite="mid:AANLkTimIYz1TIkw0zfcRqb1ksUv88HZgQLkSG3R2W1c0@mail.gmail.com"
type="cite">Christian,<br>
<br>
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.<br>
<br>
I guess I have a few more questions that I hope will help to shed light
on this:<br>
<br>
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.<br>
<br>
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?<br>
<br>
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.<br>
<br>
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.<br>
<br>
Hope all is well,<br>
<br>
Eitan<br>
<br>
<div class="gmail_quote">On Sat, Jun 19, 2010 at 8:23 AM, Christian
Verbeek <span dir="ltr"><<a moz-do-not-send="true"
href="mailto:verbeek@servicerobotics.eu">verbeek@servicerobotics.eu</a>></span>
wrote:<br>
<blockquote class="gmail_quote"
style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">Dear
Eitan,<br>
<br>
Do you have any suggestions or hints what I could try to overcome this<br>
weird behaviour like driving backwards? To get a robust and meaningful<br>
path planning is critical to my whole project and the main reason why I<br>
give ROS a try in my projects.<br>
<br>
Regards<br>
<font color="#888888">Christian<br>
</font>
<div>
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<br>
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