![]() ![]() Sim_granularity: 0.025 #default is 0.025 - simulation with steps of 2.5 cmĭwa: false #I prefer trajectory rollout as I can see it in rviz Sim_time: 5.0 #default is 1.0 - simulate 5 seconds ahead Heading_scoring_timestep: 5.0 #default 0.8 sec Vx_samples: 5 #default is 3, I feel like putting 5. Here are my base planner parameters: TrajectoryPlannerROS: Has anyone ever experienced this behaviour? How could I make it stop? This is not my first experience with the navigation stack and I know it is possible to reach the goal far better than that. I tried to play with some parameters of the base planner, but I can't really figure out how to stop this annoying rotation. ![]() Mojo is fitted with a differential drive. ![]() My only problem is that things get pretty rotational when Mojo closes on its goal.Īs you can see in this video, it is like if it forgets it can also not move forward while rotating. My robot Mojo and I are happily trying to use the navigation stack.Īfter a bit of parameter tuning, I managed to get it follow its planned path quite well. ![]()
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January 2023
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