search

yujinrobot / kobuki

Software for iClebo Kobuki
kobuki.yujinrobot.com
222 stars 176 forks source link

Question: maximum velocity of Kobuki #358

Closed jvgomez closed 9 years ago

jvgomez commented 9 years ago

Hi, I see in the Kobuki specifications that the maximum linear speed is 0.7 m/s. During teleoperation, the maximum seems to be 1.5 m/s. However, when giving velocity commands from a node the maximum it can reach is 0.5 m/s. Where is this configured and what is the real maximum velocity of the platform?

Thanks!

stonier commented 9 years ago

Are you using a kobuki based turtlebot when giving velocity commands or just a kobuki_node running on top?

I don't think the basic kobuki launchers generate any limitations, but kobuki safe_keyop.launch and the default turtlebot_bringup launchers attach a velocity smoother to incoming velocity commands. These have parameters for velocity and acceleration bounds. This is probably what's doing it.

We do have some acceleration profile pictures we made when developing the kobuki...somewhere. But we never posted these online. You can generate these by modifying/running some of the scripts in kobuki_testsuite/scripts and viewing results in rqt_plot.

jvgomez commented 9 years ago

I'm using the kobuki_node. When I launch roslaunch kobuki_keyop keyop.launch I can clearly see what the limits are, as they are in a yaml file. However, when I publish cmd_vel commands it does not get over 0.5 m/s in simulation (I haven't tested in the real robot yet). I am investigating further, but what I am 99% sure is that it is not the keyop_smoother.yaml. I will post further information soon.

bit-pirate commented 9 years ago

@jvgomez what simulation are you using? Gazebo?

jvgomez commented 9 years ago

@bit-pirate Yes, I am using Gazebo.

jvgomez commented 9 years ago

For some reason I am now able to give a maximum velocity of 0.7 m/s in the real robot, while velocity in simulation is not limited (or given as parameters). So I close this issue as the question is solved. Thank you!

bit-pirate commented 9 years ago

Would still be interesting, where the simulation is actually limiting the velocity.

jvgomez commented 9 years ago

It should be because of my code, because if I give a manual velocity reference the robot is able to follow it.