Closed mintar closed 2 years ago
Hi @ravescovi,
You mentioned to have accessed the move_base inside the mir computer? How is that done?
To modify the parameters of the internal move_base, I did the following:
chroot
to add a user with sudo privileges to the internal MiR PC.However, unless you are doing something very special and want to change one specific parameter, I would not recommend doing this. The parameters are extremely well-tuned, and messing around with them can have unforeseen consequences. At least make a backup before you change anything.
A better alternative would be not to use the move_base on the robot at all, but instead run your own instance of move_base on an external PC and only send cmd_vel
commands to the robot. You can use (or modify) the move_base config from my package mir_navigation
. The advantage is that you have full control; the disadvantage is that you miss some of the custom improvements of the internal move_base (faster planning, better path following). But I think I'd try this first.
Also, is there any way of setting the robot to ignore the SICK configurations and drive close to walls?
There are two parts to this:
cmd_vel
commands for the final approach.cmd_vel
commands you send (directly or via move_base
). You cannot switch off this safety feature (which is good). The size of the safety field depends on the speed of the robot. If you drive very slowly, the safety field is very small, so you can drive almost into contact with a wall if you want.Hi there! @mintar Could you please describe how to run own instance of move_base?
Regards
I've described it all in my comment above. Do you have any specific questions?
Hi @mintar. I have a MiR250 that I am trying to control through ROS (noetic). You mentioned to have accessed the move_base inside the mir computer? How is that done? Also, is there any way of setting the robot to ignore the SICK configurations and drive close to walls?
_Originally posted by @ravescovi in https://github.com/dfki-ric/mir_robot/issues/81#issuecomment-930566754_