Open yumingdong opened 6 years ago
@yumingdong I also use eband_local_planner with mecanum wheels. I could reproduce your issue. @yumingdong do you get Y-linear speed commands form the local_planner to use the sideways motion capabilities? That also doesn't work in my setup (even when i use your parameters) Waht global_planner do you use?
Yes,the robot seldom set the Y-linear speed until the robot adhere to the goal. I have use the navfn planner as the global_planner(the default planner of base_global_planner).Could you instruct me how to config such parameters to move my robot like the video of https://www.youtube.com/watch?v=KJgHAhJxUr0 Thank you very much !
I use the eband_local_planner as the base_local_planner for my four mecanum wheels base, and the eband_local_planner_params is as follows:
From the above configure parameters, I have set the max_vel_lin is 0.8 m/s . But in the test, I have found that the robot's max_speed is only 0.43m/s. I have tune some parameters: k_drop, k_damp, eband_tiny_bubble_distance, etc. I have increase and decrease such parameters, but the robot's max_speed is also about 0.43 m/s. I don't know how to tune which parameters to increase the robot's speed. By the way , I use dwa_local_planner the robot's max_speed can meet the requirements.