Command velocity is given by navigation stack in y direction even though I have set min and max velocity 0.

ros-planning / navigation

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

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Command velocity is given by navigation stack in y direction even though I have set min and max velocity 0. #928

Open kjitender469 opened 4 years ago

kjitender469 commented 4 years ago

I am using kinetic version of ROS in Ubuntu 16.04. In navigation I am using DWAPlannerROS approach and set acc_lim_y: 0, max_vel_y: 0, min_vel_y: 0 also set holonomic_robot: false in my .yaml configuration file. Still move_base package send command for y in some scenario. I am not able to understand this behaviour why this is happening.

ChristofDubs commented 4 years ago

I once observed exactly the same problem, and the cause for it was that the y-velocity component in the odometry was not zero.

kjitender469 commented 4 years ago

@ChristofDubs I am running gazebo simulation of my robot. I havn't try it on real robot.