Mastering ROS for Robotics Programming - Second Edition

Configuring base local planner parameters

The main function of the base local planner is to compute the velocity commands from the goal sent from the ROS nodes. This file mainly contains the configurations related to velocity, acceleration, and so on. The base local planner configuration file of this robot is in chefbot_bringup/param/base_local_planner_params.yaml. The definition of this file is as follows:

TrajectoryPlannerROS# Robot Configuration Parameters, these are the velocity limit of the robotmax_vel_x: 0.3min_vel_x: 0.1#Angular velocity limitmax_vel_theta: 1.0min_vel_theta: -1.0min_in_place_vel_theta: 0.6#These are the acceleration limits of the robotacc_lim_x: 0.5acc_lim_theta: 1.0# Goal Tolerance Parameters: The tolerance of robot ...