Robot Operating System Cookbook

Configuring the planner

Once we have configured the global and local costmap, we need to configure the base planner. This is used to generate the velocity commands to control the mobile robot. Hence, we will create a new file in chapter7_tutorials/launch with the name base_local_planner_params.yaml, and add the following code:

TrajectoryPlannerROS:max_vel_x: 0.2min_vel_x: 0.05max_rotational_vel: 0.15min_in_place_rotational_vel: 0.01min_in_place_vel_theta: 0.01max_vel_theta: 0.15min_vel_theta: -0.15acc_lim_th: 3.2acc_lim_x: 2.5acc_lim_y: 2.5holonomic_robot: false

Here, the config file defines the maximum and minimum velocities, as well as the acceleration for the mobile robot. The holonomic_robot parameter is set to true only if we are using ...