Mastering ROS for Robotics Programming - Second Edition

Configuring move_base node parameters

There are some configurations to the move_base node too. The move_base node configuration is placed in the param folder. The following is the definition of move_base_params.yaml:

#This parameter determine whether the cost map need to shutdown when move_base in inactive state shutdown_costmaps: false #The rate at which move base run the update loop and send the velocity commands controller_frequency: 5.0 #Controller wait time for a valid command before a space-clearing operations controller_patience: 3.0 #The rate at which the global planning loop is running, if it is 0, planner only plan when a new goal is received planner_frequency: 1.0 #Planner wait time for finding a valid path befire the space-clearing ...