Hi all,
What is the parameter that controls how far backwards the robot goes when it detects an obstacle at close proximity? Is it an issue related to the local planner or a setting in move_base?
Thanks
TrajectoryPlannerROS:
# Robot Configuration Parameters
acc_lim_x: 0.35 #was 0.5
acc_lim_y: 0.35 #was 0.5
acc_lim_theta: 0.35 #was 0.5
max_vel_x: 0.35 #was 0.5
min_vel_x: 0.05
max_vel_theta: 1.0
min_in_place_vel_theta: 0.05 #was0.4
escape_vel: -0.06
holonomic_robot: false
# Goal Tolerance Parameters
xy_goal_tolerance: 0.1 #was 0.3
yaw_goal_tolerance: 0.1 #was 0.3 lower means harder to achieve
latch_xy_goal_tolerance: false
path_distance_bias: 20.0 #default 0.6 - wasn't used - see pdist_scale
goal_distance_bias: 0.8 #default 0.8 - wasn't used - see gdist_scale
# Forward Simulation Parameters
sim_time: 10.0
sim_granularity: 0.025
vx_samples: 5
vtheta_samples: 20
controller_frequency: 20.0 #has to be the same as in move_base.launch
# Trajectory Scoring Parameters
meter_scoring: true
pdist_scale: 0.8
gdist_scale: 0.6
occdist_scale: 0.10 #was 0.01
heading_lookahead: 0.325 - was default
heading_scoring: false
dwa: false
global_frame_id: odom
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05
<param name="base_global_planner" value="$(arg base_global_planner)"/>
<param name="base_local_planner" value="$(arg base_local_planner)"/>
<param name="recovery_behavior_enabled" value="true"/>
<param name="recovery_behaviour_enabled" value="true"/>
<param name="clearing_rotation_allowed" value="true"/>
<param name="controller_frequency" value="20.0"/>
<param name="planner_patience" value="5.0"/>
<param name="planner_frequency" value="0.0"/>
<param name="controller_patience" value="15.0"/>
<!--<param name="oscillation_timeout" value="40"/> -->
<!-- Remap into namespace for cmd_vel_mux switching-->
<remap from="cmd_vel" to="/RosAria/cmd_vel" />
Originally posted by DanThe on ROS Answers with karma: 47 on 2016-03-29
Post score: 1