Hi, everyone. I'm trying to use move_base package.
However, my robot is not used differential wheels.
Its steering and acceleration are actuated by servo motor and DC motor.
move_base sent the cmd_vel.linear.x and cmd_vel.angular.z separately.
But, my robot need to move and rotate together, like the car.
It can't move like the planner's trajectory.
I'm wondering how to set the planner.yaml to move as I wish.
Appreciated for any suggestion or discussion, thanks.
controller_frequency: 3.0 # freq of update trace planning
recovery_behavior_enabled: true
clearing_rotation_allowed: false
TrajectoryPlannerROS:
max_vel_x: 0.5 # miles / seconds
min_vel_x: 0.1
max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0
max_vel_theta: 1.0
min_vel_theta: 0.4
# min_in_place_vel_theta 0.4
escape_vel: -0.1 # backward speed
acc_lim_x: 1.5 # miles / senconds ^ 2
acc_lim_y: 0.0 # zero for a differential drive robot
acc_lim_theta: 0.5
holonomic_robot: false
yaw_goal_tolerance: 0.2 # about 6 degrees
xy_goal_tolerance: 0.2 # 5 cm # cannot smaller than map's revolution
latch_xy_goal_tolerance: false
pdist_scale: 0.4
gdist_scale: 0.8
meter_scoring: true
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
occdist_scale: 0.05
oscillation_reset_dist: 0.05
publish_cost_grid_pc: false
prune_plan: true
sim_time: 1.0
sim_granularity: 0.05
angular_sim_granularity: 0.1
vx_samples: 8
vy_samples: 0 # zero for a differential drive robot
vtheta_samples: 20
dwa: true
simple_attractor: false
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