Once we have the costmaps configured, it is necessary to configure the base planner. The base planner is used to generate the velocity commands to move our robot. Create a new file in
chapter8_tutorials/launch with the name
base_local_planner_params.yaml and add the following code:
TrajectoryPlannerROS: max_vel_x: 1 min_vel_x: 0.5 max_rotational_vel: 1.0 min_in_place_rotational_vel: 0.4 acc_lim_th: 3.2 acc_lim_x: 2.5 acc_lim_y: 2.5 holonomic_robot: false
config file will set the maximum and minimum velocities for your robot. Also, the acceleration is set.
holonomic_robot parameter is
true if you are using a holonomic platform. In our case, our robot is based on a non-holonomic platform and the parameter is ...