Base local planner configuration
Once we have the costmaps configured, it is necessary to configure the base planner. The base planner is used to generate the velocity commands to move our robot. Create a new file in chapter8_tutorials/launch
with the name base_local_planner_params.yaml
and add the following code:
TrajectoryPlannerROS: max_vel_x: 1 min_vel_x: 0.5 max_rotational_vel: 1.0 min_in_place_rotational_vel: 0.4 acc_lim_th: 3.2 acc_lim_x: 2.5 acc_lim_y: 2.5 holonomic_robot: false
The config
file will set the maximum and minimum velocities for your robot. Also, the acceleration is set.
The holonomic_robot
parameter is true
if you are using a holonomic platform. In our case, our robot is based on a non-holonomic platform and the parameter is set to false
. A holonomic vehicle
is one that can move in all the configured space from any position. In other words, if the places where the robot can go are defined by any x and y values in the environment, this means that the...