March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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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 robot max_vel_x: 0.3 min_vel_x: 0.1 #Angular velocity limit max_vel_theta: 1.0 min_vel_theta: -1.0 min_in_place_vel_theta: 0.6 #These are the acceleration limits of the robot acc_lim_x: 0.5 acc_lim_theta: 1.0 # Goal Tolerance Parameters: The tolerance ...