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Hypha-ROS / hypharos_racecar

Low-cost, high speed (600USD, 3 m/s) 1/10 Autonomous ROS RaceCar (with tutorial for beginner)
https://hypharosworkshop.wordpress.com/
GNU Lesser General Public License v3.0
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/move_base_node/NavfnROS/plan #17

Closed 001SCH closed 5 years ago

001SCH commented 5 years ago

Hi,I wonder if / move_base_node/NavfnROS/plan belongs to global_planner? And I couldn't find the location in the code where it was published，I hope you could solve my problem.

haochihlin commented 5 years ago

Hi As I recall correctly, then yes, move_base_node/NavfnROS/plan belongs to global_planne. The path was published by standard move_base plugin

001SCH commented 5 years ago

Thank you for your answer. I have understood this implementation process. In addition, after I raised the speed to 2m/s, the steering of the car is not timely enough, easy to collide, how should this be solved?

001SCH commented 5 years ago

Hi. I'm sorry to bother you again. I don't quite understand the role of the Angle_gain parameter in L1_controller_v2.cpp. Why not directly use the predicted angle, but multiply it by a multiple? In addition, I have referred to MIT's paper on closed-loop prediction and still do not understand how to adjust the parameters. Do you have any good suggestions?

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发件人: Hao-Chih, Lin 发送时间: 2019年5月12日 3:15 收件人: Hypha-ROS/hypharos_racecar 抄送: 001SCH; Author 主题: Re: [Hypha-ROS/hypharos_racecar] /move_base_node/NavfnROS/plan (#17)

Hi As I recall correctly, then yes, move_base_node/NavfnROS/plan belongs to global_planne. The path was published by standard move_base plugin — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or mute the thread.