search

husarion / rosbot_ros

ROS packages for ROSbot 2, 2R and 2 PRO
132 stars 62 forks source link

Rationale for Trajectory Planner max_vel? #11

Closed adwiii closed 1 year ago

adwiii commented 3 years ago

In the trajectory_planner.yaml config, the maximum velocity is set as max_vel_x: 0.1. However it appears that the maximum speed is given here as 1.25 m/s or here as 1.0 m/s (separate issue, these manuals conflict).

Is there a rationale behind using 0.1 m/s instead of 1.0 m/s?

lukaszmitka commented 3 years ago

There is a rationale. Value stated in manual is a maximum velocity that ROSbot can reach. The correct one is 1.0m/s In trajectory planner set limit for velocity to 0.1 m/s as we do not want ROSbot to drive faster. But if user want to, this value may be changed.

adwiii commented 3 years ago

Thank you. I thought 1/10th speed might be overly conservative. I will experiment with turning up the speed. Is there a reason to not want the robot to drive faster? Is it a concern with software or hardware?

lukaszmitka commented 3 years ago

It is a safety precaution for first time users. Both hardware and software can handle higher velocities.

delihus commented 1 year ago

I'm closing due to inactivity. If the issue is still valid, please reopen it.