Tuning parameters for physical experiment?

idincern / idincern-husky

AUTONOMOUS ROBOT NAVIGATION USING ROS Clearpath Husky A200 robot with Gazebo and RViz simulations using different SLAM and Path Planning algorithms. 360 degrees laser scan with two SICK LMS511 LIDARs

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Tuning parameters for physical experiment? #1

Open aarontan-git opened 6 years ago

aarontan-git commented 6 years ago

Hello,

Have you tried physical experiments?

It seems that the husky behave very differently in reality when compared to gazebo simulation. I read online that there are parameters that should be tuned; however, I am not sure which ones.

Can you help?

Thanks, Aaron

idincern commented 4 years ago

No, we haven't tried all of the planners in real husky. But the default husky planners&parameters were working fine on the real husky. I assume they were A* and DWA. You may also tune the parameters inside costmap_common.yaml & costmap_local.yaml files as you wish.