base_local_planner中的max_vel_theta
时间: 2023-09-12 11:12:48 浏览: 45
在ROS中,base_local_planner是用于实现机器人局部路径规划的库。max_vel_theta是base_local_planner中的一个参数,表示机器人在执行旋转时允许的最大角速度。这个参数的值通常根据机器人的实际情况来设置,比如机器人的最大角速度、加速度等,以确保机器人在执行路径时不会超过其能力范围。如果机器人转得太快,可能会导致机器人失控或者路径跟踪出现误差。因此,合理设置max_vel_theta可以有效提高机器人的路径跟踪性能。
相关问题
给下列程序添加注释: void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) { if (setup_ && config.restore_defaults) { config = default_config_; config.restore_defaults = false; } if ( ! setup_) { default_config_ = config; setup_ = true; } // update generic local planner params base_local_planner::LocalPlannerLimits limits; limits.max_vel_trans = config.max_vel_trans; limits.min_vel_trans = config.min_vel_trans; limits.max_vel_x = config.max_vel_x; limits.min_vel_x = config.min_vel_x; limits.max_vel_y = config.max_vel_y; limits.min_vel_y = config.min_vel_y; limits.max_vel_theta = config.max_vel_theta; limits.min_vel_theta = config.min_vel_theta; limits.acc_lim_x = config.acc_lim_x; limits.acc_lim_y = config.acc_lim_y; limits.acc_lim_theta = config.acc_lim_theta; limits.acc_lim_trans = config.acc_lim_trans; limits.xy_goal_tolerance = config.xy_goal_tolerance; limits.yaw_goal_tolerance = config.yaw_goal_tolerance; limits.prune_plan = config.prune_plan; limits.trans_stopped_vel = config.trans_stopped_vel; limits.theta_stopped_vel = config.theta_stopped_vel; planner_util_.reconfigureCB(limits, config.restore_defaults); // update dwa specific configuration dp_->reconfigure(config); }
/**
* @brief Callback function for dynamic reconfiguration of DWA planner parameters
*
* @param config Reference to the configuration object that stores the updated parameters
* @param level The level of reconfiguration, unused in this function
*/
void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) {
// If the setup has been completed and restore_defaults flag is set, restore default configuration
if (setup_ && config.restore_defaults) {
config = default_config_;
config.restore_defaults = false;
}
// If setup has not been completed, store default configuration and set the setup flag to true
if ( ! setup_) {
default_config_ = config;
setup_ = true;
}
// Update generic local planner parameters
base_local_planner::LocalPlannerLimits limits;
limits.max_vel_trans = config.max_vel_trans;
limits.min_vel_trans = config.min_vel_trans;
limits.max_vel_x = config.max_vel_x;
limits.min_vel_x = config.min_vel_x;
limits.max_vel_y = config.max_vel_y;
limits.min_vel_y = config.min_vel_y;
limits.max_vel_theta = config.max_vel_theta;
limits.min_vel_theta = config.min_vel_theta;
limits.acc_lim_x = config.acc_lim_x;
limits.acc_lim_y = config.acc_lim_y;
limits.acc_lim_theta = config.acc_lim_theta;
limits.acc_lim_trans = config.acc_lim_trans;
limits.xy_goal_tolerance = config.xy_goal_tolerance;
limits.yaw_goal_tolerance = config.yaw_goal_tolerance;
limits.prune_plan = config.prune_plan;
limits.trans_stopped_vel = config.trans_stopped_vel;
limits.theta_stopped_vel = config.theta_stopped_vel;
// Call reconfigureCB function of the planner_util_ object with updated limits and restore_defaults flag
planner_util_.reconfigureCB(limits, config.restore_defaults);
// Call reconfigure function of the dp_ object with updated configuration
dp_->reconfigure(config);
}
teb_local_planner如何使用
teb_local_planner是ROS中的一个局部路径规划器,用于生成机器人在环境中的局部路径。以下是使用teb_local_planner的基本步骤:
1. 安装teb_local_planner:
```
sudo apt-get install ros-<distro>-teb-local-planner
```
2. 在机器人的工作空间中创建一个catkin包,并在package.xml中添加如下依赖项:
```
<build_depend>teb_local_planner</build_depend>
<run_depend>teb_local_planner</run_depend>
```
3. 创建一个launch文件,将teb_local_planner配置为全局规划器的子规划器:
```xml
<launch>
<node name="move_base" pkg="move_base" type="move_base" respawn="false" output="screen">
<rosparam file="$(find your_robot_config)/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find your_robot_config)/global_planner_params.yaml" command="load" />
<param name="base_global_planner" value="navfn/NavfnROS" />
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
</node>
</launch>
```
4. 在机器人配置文件夹下创建一个base_local_planner_params.yaml文件,并在其中添加TebLocalPlannerROS的参数设置。这里提供一个示例:
```yaml
# TEB Local Planner parameters
TrajectoryPlannerROS:
max_vel_x: 0.5
max_rotational_vel: 1.0
min_in_place_rotational_vel: 0.1
escape_vel: -0.1
acc_lim_x: 1.0
acc_lim_th: 1.0
holonomic_robot: false
max_vel_theta: 1.0
min_turning_radius: 0.2
footprint_model: consavable_laser_scan
footprint_padding: 0.1
teb_autosize: true
dt_ref: 0.3
dt_hysteresis: 0.1
min_samples: 3
global_plan_overwrite_orientation: true
allow_init_with_backwards_motion: false
max_global_plan_lookahead_dist: 3.0
force_reinit_new_goal_dist: 1.0
force_reinit_new_goal_angular: 0.2
inscribed_radius: 0.25
circumscribed_radius: 0.3
costmap_converter_plugin: ""
costmap_converter_spin_thread: true
visualize_subsampled_path: false
visualize_voronoi_path: false
visualize_infeasible_points: false
visualize_dynamic_obstacles: false
delete_detours_backwards: false
detours_orientation_tolerance: 0.1
weight_viapoint: 1.0
weight_optimaltime: 1.0
weight_shortest_path: 0.0
viapoints_all_candidates: false
max_number_classes: 0
selection_cost_hysteresis: 0.1
selection_prefer_initial_plan: false
selection_obst_cost_scale: 10.0
selection_viapoint_cost_scale: 1.0
selection_alternative_time_cost: true
selection_dropping_probability: 0.0
selection_dropping_memory: 2
```
5. 启动机器人并运行局部路径规划器:
```
roslaunch your_robot_name teb_local_planner.launch
```
以上是使用teb_local_planner的基本步骤,你需要根据你的机器人配置和任务需求进行相应的参数配置。