fix :move-to for non-holonomic robot

[knorth55]

fix :move-to for non-holonomic robot this fixes https://github.com/jsk-ros-pkg/jsk_robot/pull/1156#issuecomment-545484616

[knorth55]

cc. @708yamaguchi

[k-okada]

You can tune parameter on the good condition (at the corridor), if your robot always working within the room 72b3, that is a bad sign. Robot with out safety cable should goes to out of the room.

2019年10月25日(金) 15:46 Shingo Kitagawa notifications@github.com:

@knorth55 commented on this pull request.

In pr2eus/robot-interface.l https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/405#discussion_r338906743 :

@@ -1424,6 +1427,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i ;; (dotimes (i 2) (if (< (setq diff-len (norm (subseq (send diff :worldpos) 0 2))) 200) ;; move_base thre = 200mm

• (if holonomic

we can use :go-pos-unsafe for pr2 robot. but for fetch, we need to tune :rotation-gain in :go-pos-unsafe that is because of friction between wheel and the ground. for rotating 45 degree, it is better to set :rotation-gain 2.0 for better motion. however it depends on rotation angle and hardware situation.

Reference:

https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/fetcheus/fetch-interface.l#L241-L323

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◉ Kei Okada

[knorth55]

but in that case, fetch cannot move in 73b2...

2019年10月25日(金) 19:27 Kei Okada notifications@github.com:

You can tune parameter on the good condition (at the corridor), if your robot always working within the room 72b3, that is a bad sign. Robot with out safety cable should goes to out of the room.

2019年10月25日(金) 15:46 Shingo Kitagawa notifications@github.com:

@knorth55 commented on this pull request.

In pr2eus/robot-interface.l < https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/405#discussion_r338906743> :

@@ -1424,6 +1427,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i ;; (dotimes (i 2) (if (< (setq diff-len (norm (subseq (send diff :worldpos) 0 2))) 200) ;; move_base thre = 200mm

• (if holonomic

we can use :go-pos-unsafe for pr2 robot. but for fetch, we need to tune :rotation-gain in :go-pos-unsafe that is because of friction between wheel and the ground. for rotating 45 degree, it is better to set :rotation-gain 2.0 for better motion. however it depends on rotation angle and hardware situation.

Reference:

https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/fetcheus/fetch-interface.l#L241-L323

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◉ Kei Okada

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Shingo Kitagawa the University of Tokyo, JSK Lab s-kitagawa@jsk.imi.i.u-tokyo.ac.jp

[k-okada]

:go-pos-unsafe uses sensory feedback so it should work well in any situation And currently, we only use this method within :move-to, so our goal is just to improve the result . If :go-pos-unsafe did not reduce the quality of the goal location, we should consider it is a good result.

2019年10月25日(金) 22:09 Shingo Kitagawa notifications@github.com:

but in that case, fetch cannot move in 73b2...

2019年10月25日(金) 19:27 Kei Okada notifications@github.com:

You can tune parameter on the good condition (at the corridor), if your robot always working within the room 72b3, that is a bad sign. Robot with out safety cable should goes to out of the room.

2019年10月25日(金) 15:46 Shingo Kitagawa notifications@github.com:

@knorth55 commented on this pull request.

In pr2eus/robot-interface.l < https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/405#discussion_r338906743

:

@@ -1424,6 +1427,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i ;; (dotimes (i 2) (if (< (setq diff-len (norm (subseq (send diff :worldpos) 0 2))) 200) ;; move_base thre = 200mm

• (if holonomic

we can use :go-pos-unsafe for pr2 robot. but for fetch, we need to tune :rotation-gain in :go-pos-unsafe that is because of friction between wheel and the ground. for rotating 45 degree, it is better to set :rotation-gain 2.0 for better motion. however it depends on rotation angle and hardware situation.

Reference:

https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/fetcheus/fetch-interface.l#L241-L323

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◉ Kei Okada

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Shingo Kitagawa the University of Tokyo, JSK Lab s-kitagawa@jsk.imi.i.u-tokyo.ac.jp

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◉ Kei Okada

[knorth55]

@k-okada OK. I made :go-pos-unsafe version #406. now I'm testing on Fetch.

[knorth55]

move to #406