First of all I'm going to let you guys know I'm new to ROS and gazebo. And I have been playing around with it for a few weeks now doing tutorials and my own experiments. And I finally have a working robot, except...
My problem is that I haven't found any proper way to raise the maximum speed of my robot when it is using move base navigation. If I manually control the robot I can make it go according to whatever speed I want, but when I issue it a location to go to in RViz I can't get it to go over 4 m/s. And I have raised all the velocity, acceleration limits that I could find (planner, control config) to ridiculous values all together and one by one in order to try to get it to go beyond the 4 m/s with navigation.
My robot has 3 wheels, so it's using differential drive and the third wheel is just a free moving caster wheel.
And I'm using Ubuntu 14.04 with ros Indigo.
For the planner I'm currently using the DWA planner and I have tried to use the trajectory one as well.
My main reference besides the tutorials for the robot has been Husky.
Here is my control.yaml:
testi:
joint_state_controller:
type: "joint_state_controller/JointStateController"
publish_rate: 50
gmi_drive:
type: "diff_drive_controller/DiffDriveController"
publish_rate: 50
left_wheel: 'base_to_WheelL'
right_wheel: 'base_to_WheelR'
wheel_separation: 0.9
wheel_radius: 0.26
enable_odom_tf: false
pose_covariance_diagonal: [0.001, 0.001, 1.0, 1.0, 1.0, 1.0]
twist_covariance_diagonal: [0.001, 0.001, 1.0, 1.0, 1.0, 1.0]
base_frame_id: base_link
linear:
x:
has_velocity_limits : true
max_velocity : 75.0 # m/s
has_acceleration_limits: true
max_acceleration : 5.0 # m/s^2
angular:
z:
has_velocity_limits : true
max_velocity : 5.0 # rad/s
has_acceleration_limits: true
max_acceleration : 1.5 # rad/s^2
And here is my planner.yaml:
controller_frequency: 5.0
recovery_behaviour_enabled: true
NavfnROS:
default_tolerance: 0.1
TrajectoryPlannerROS:
# Robot Configuration Parameters
acc_lim_x: 25.0
acc_lim_theta: 32.0
max_vel_x: 55.0
min_vel_x: 0.0
max_vel_theta: 10.0
min_vel_theta: -10.0
min_in_place_vel_theta: 0.2
holonomic_robot: false
escape_vel: -0.5
yaw_goal_tolerance: 6.0
xy_goal_tolerance: 0.8
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 4.0
sim_granularity: 0.02
angular_sim_granularity: 0.02
vx_samples: 10
vtheta_samples: 20
controller_frequency: 20.0
# Trajectory scoring parameters
meter_scoring: true
occdist_scale: 0.1
pdist_scale: 0.8
gdist_scale: 1.0
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
dwa: true
simple_attractor: false
publish_cost_grid_pc: true
oscillation_reset_dist: 0.25
escape_reset_dist: 0.1
escape_reset_theta: 0.1
DWAPlannerROS:
# Robot configuration parameters
acc_lim_x: 25.0
acc_lim_y: 2.5
acc_lim_th: 32.0
max_vel_x: 55.0
min_vel_x: 0.1
max_vel_y: 0.0
min_vel_y: -0.0
max_trans_vel: 75.0
min_trans_vel: 0.1
max_rot_vel: 5.0
min_rot_vel: 0.4
# Goal Tolerance Parameters
yaw_goal_tolerance: 6.0
xy_goal_tolerance: 0.8
latch_xy_goal_tolerance: false
All help is much appriciated