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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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Base local planner configuration

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

The config file will set the maximum and minimum velocities for your robot. Also, the acceleration is set.

The 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 ...

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