hello everyone
i am having a difficulty with my robot.
it navigates to a goal pretty well.
the thing is when it needs to rotate at the end to the orientation of the goal it doesnt seem to move.
when i look at the cmd_vel the robot receives a value of 0.457.. but the minimum value required for my robot to rotate is 0.55 this is also the value set in the base_local_planner_params so i dont get how can a value lower than the minimum is sent to the robot
please help me figure this one out
here is my base_local_planner_params file:
controller_frequency: 7.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false
TrajectoryPlannerROS:
max_vel_x: 0.4
min_vel_x: 0.25
max_rotational_vel: 0.79
min_in_place_vel_theta: 0.55
escape_vel: -0.3
acc_lim_x: 0.05
acc_lim_y: 0.5
acc_lim_th: 0.07
#min_rot_vel: 0.6
#min_trans_vel: 0.6
#max_trans_vel: 3.0
#min_rotational_vel: 0.70
holonomic_robot: false
yaw_goal_tolerance: 0.5 # about 6 degrees
xy_goal_tolerance: 0.8 # 5 cm
latch_xy_goal_tolerance: true
pdist_scale: 0.8
gdist_scale: 0.4
meter_scoring: true
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
occdist_scale: 0.1
oscillation_reset_dist: 0.05
publish_cost_grid_pc: false
prune_plan: true
sim_time: 2.0
# The amount of time to forward-simulate trajectories in seconds
sim_granularity: 0.025
# The step size, in meters, to take between points on a given trajectory
angular_sim_granularity: 0.025
# The step size, in radians, to take between angular samples on a given trajectory.
vx_samples: 12
# The number of samples to use when exploring the x velocity space
vtheta_samples: 20
# The number of samples to use when exploring the theta velocity space
dwa: false
simple_attractor: false
↧