Changed default parameters to
Speed Settings (these minimize slip and joint 'bounce')
param name="REVERSE_SPEED" value="3"
param name="TURN_SPEED" value="3"
Obstacle Settings (to much lower and they may bump things, and higher tends to catch odd things like going downhill)
self.safe_distance = rospy.get_param('/safe_distance', default=0.7)
self.warning_distance = rospy.get_param('/warning_distance', default=1.1)
This is only to settings and doesn't affect behaviors or code interactions. Testing is just verifying it runs smoothly, doesn't fly off the map, minimal slippage of wheels (forward/backward, ignore turns does its own thing and hard to tell), minimize joint bounce on turns, doesn't run into things and can climb hills out of valleys (sometimes this takes a bit and if brakes fail there will be problems but its not a speed/obstacle issue). Really the testing was me of the previous settings and just modifying so just a quick second check is all that is needed, to make sure nothing is broken.
Changed default parameters to Speed Settings (these minimize slip and joint 'bounce') param name="REVERSE_SPEED" value="3" param name="TURN_SPEED" value="3" Obstacle Settings (to much lower and they may bump things, and higher tends to catch odd things like going downhill) self.safe_distance = rospy.get_param('/safe_distance', default=0.7) self.warning_distance = rospy.get_param('/warning_distance', default=1.1)
This is only to settings and doesn't affect behaviors or code interactions. Testing is just verifying it runs smoothly, doesn't fly off the map, minimal slippage of wheels (forward/backward, ignore turns does its own thing and hard to tell), minimize joint bounce on turns, doesn't run into things and can climb hills out of valleys (sometimes this takes a bit and if brakes fail there will be problems but its not a speed/obstacle issue). Really the testing was me of the previous settings and just modifying so just a quick second check is all that is needed, to make sure nothing is broken.