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Hello everyone, now I have a task about navigation. I want my robot to have different speeds in different environments. Just like this:

  • At corridor : 0.5m/s

  • At parlor : 0.25m/s

  • etc...

Now my question is how to reconfigure my robot's speed when navigation? This is my design step:

  • First, Navigate to a place.

  • When it finished, reconfigure robot speed.

  • Then navigate to next place.

Can anyone tell me if it is possible?

Or there are other way to do this?


Originally posted by TifferPelode on ROS Answers with karma: 96 on 2018-02-04

Post score: 0

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1 Answer 1

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You could use dyanmic_reconfigure to change (Maximum) velocities on the fly, if it is implemented in the respective local planner.

E.g.

  • base_local_planner has max_vel_x and min_vel_x dynamically configureable.
  • dwa_local_planner seems to have the same.

For other local planners, you'd have to check.


EDIT

There is a python Client. And it seems that a C++ Client has been merged as well, though there is no documentation.


Originally posted by mgruhler with karma: 12390 on 2018-02-05

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by TifferPelode on 2018-02-05:
It actually work! thx.

And now I want to know how to adjustment the value automatic rather than in GUI ?

Comment by mgruhler on 2018-02-06:
great to hear. See edit above.

Comment by TifferPelode on 2018-02-07:
Thank you for your patience to answer my question! ;)

Comment by violator on 2020-12-31:
@TifferPelode Can you please mention how you adjust the values programmatically rather than using the GUI?

Comment by mgruhler on 2021-01-04:
@violator this is what the clients above are for. You change the values programmatically using the links in the edit I provided above. Does this answer your question?

Comment by violator on 2021-01-04:
@mgruhler Yes. It does. And It works.

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