Closed rlefevre1 closed 8 years ago
+1
@raflef11: I'll see what I can do, but it might be a couple of weeks before I can get this documentation up. The most important parameters are in eband_trajectory_controller_ros.cpp.
@piyushk: maybe one of the summer students could write something up from reading the code.
This is something we'd like to have documented.
@jack-oquin: I've tried getting students to read through that code over the years, but it's a tough piece. I've never seen progress.
@piyushk Thank you for your help. I found parameters I needed in eband_trajectory_controller.cpp.
I think that the list of parameters could be displayed in the ros web page for the eband_local_planner (like the others planners). It is more convenient.
Thanks again
@raflef11: please let us know if differential_drive=false
works for you.
I made a start at listing some of the ROS parameters. Many of the others would require guess-work on my part.
@piyushk: Please verify or correct my guess that the parameter namespace would be: ~/eband_local_planner
.
@jack-oquin Yes, for me differential_drive=false
works properly.
But I have a problem: the parameters does not appear in the parameter server (when I type rosparam list
there is no result for the eband_local_planner).
But I have a problem: the parameters does not appear in the parameter server (when I type rosparam list there is no result for the eband_local_planner).
How did you set them?
How did you set them?
I created a YAML file which contains the following lines:
EBandPlannerROS:
differential_drive: false
rotation_correction_threshold: 1.0
Then, I load it through a launch file as follows:
<launch>
<arg name="base_global_planner" default="navfn/NavfnROS"/>
<arg name="base_local_planner" default="eband_local_planner/EBandPlannerROS"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_global_planner" value="$(arg base_global_planner)"/>
<param name="base_local_planner" value="$(arg base_local_planner)"/>
<rosparam file="$(find my_package)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find my_package)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find my_package)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find my_package)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find my_package)/config/eb_planner.yaml" command="load" /> <!-- HERE I LOAD THE PARAMETERS INSIDE THE YAML FILE -->
</node>
</launch>
What does this command print?
rosparam list | grep differential
I already tried this command but it return nothing
Oh, it's good, I don't know what I changed but it works now, thank you
@raflef11: What was the full name of your parameter?
I am wondering whether the documentation I wrote is correct.
The full names of the parameters I use are:
/move_base/EBandPlannerROS/differential_drive
/move_base/EBandPlannerROS/rotation_correction_threshold
These are the values in the parameter server.
So, EBandPlannerROS
is the name under which you configured the base_local_planner
?
That means my documentation is wrong. I thought it would be eband_local_planner
.
Yes, I used EBandPlannerROS
as you can see above (where I wrote the YAML file content). The documentation is effectively wrong ;)
I think it's better now. Please check, and comment here if it's still wrong.
It seems to be good
Thanks for your help.
You likewise.
Hello ! I didn't find anywhere a documentation about the list of available parameters for the eband_local_planner. It would be nice if anyone can provide it. Thanks.