ROS Programming: Building Powerful Robots

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 chapter6_tutorials/launch with the name base_local_planner_params.yaml, and add the following code:

TrajectoryPlannerROS: 
  max_vel_x: 0.2 
  min_vel_x: 0.05 
  max_rotational_vel: 0.15 
  min_in_place_rotational_vel: 0.01 
  min_in_place_vel_theta: 0.01 
  max_vel_theta: 0.15 
  min_vel_theta: -0.15 
  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. The acceleration is also set.

The holonomic_robot parameter is true if you are using a holonomic platform. ...