[ros-users] Navigation Stack performance
Gonçalo Cabrita
goncabrita at gmail.com
Wed Jul 7 18:43:25 UTC 2010
Thanks for your help on this matter Eitan and Eric!
I'll run a few experiments with various settings and report back the results soon.
Also on this subject, some of our Roombas are equipped with sonar arrays of 5 sonars arranged in
-PI/2 -PI/4 0 PI/4 PI/2
Do you think it would be a viable option to feed the sonar data into the nav stack in the form of a point cloud? Or is it not even worth trying as the amount of data produced is extremely small when compared to that of a laser range finder?
Thanks,
Gonçalo Cabrita
ISR - University of Coimbra
Portugal
On Jul 7, 2010, at 7:08 PM, Eitan Marder-Eppstein wrote:
> Goncalo,
>
> There are a few basic things that you can do to help with performance:
>
> 1) You can increase the resolution of the costmaps. Since a Roomba is so small, even 10cm resolution should probably be sufficient for navigation. See the resolution parameter of the costmap: http://www.ros.org/wiki/costmap_2d#Map_management_parameters
>
> 2) You can decrease the update rate of the costmaps from 5Hz to something lower depending on your tolerance for seeing an obstacle. At 5Hz, it'll take about 1/5th of a second to react to an obstacle, at 3Hz 1/3rd of a second, etc. See the update_frequency parameter for the costmap: http://www.ros.org/wiki/costmap_2d#Rate_parameters.
>
> 3) You can control the Roomba at a lower rate... maybe something like 10Hz instead of 20Hz. For that you can set the controller_frequency parameter on move_base: http://www.ros.org/wiki/move_base#Parameters.
>
> Hope this helps,
>
> Eitan
>
> 2010/7/7 Gonçalo Cabrita <goncabrita at gmail.com>
> Hi everyone!
>
> Here at the lab we use Roomba robots with Eee PCs on top. The Eee PCs have a single core Intel Atom processor, not the quickest thing around! Each Roomba is also equiped with an Hokuyo laser.
>
> So I've recently been playing around with the ROS nav stack. I've tried to make it as simple as possible according to the various tutorials and mailing list msgs I've came across with, however I'm always getting a warning that it is running below the 20Hz frequency. It is also noticeable the fact that the robot does not move properly, and eventually crashes.
>
> Previously I experimented the same setup on an Erratic robot with a Celeron, and although it was taking pretty much all of the processor to run the nav stack, it was able to move pretty well around the lab according to the commands I was issuing from rviz.
>
> So my question is, how can I use the nav stack in its simplest form, in order to have it running smoothly on the Eee PCs?
>
> I'm attaching the .yaml files I'm using for configuring the nav stack.
>
> Thanks in advance!
>
> Gonçalo Cabrita
>
>
>
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