Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Parameter settings for increased speed over 1.0m/s #34

Open
daisukes opened this issue Mar 14, 2022 · 1 comment
Open

Parameter settings for increased speed over 1.0m/s #34

daisukes opened this issue Mar 14, 2022 · 1 comment

Comments

@daisukes
Copy link
Contributor

  • There is a hard-coded speed limit.

double speed_limit = 1.0;

  • add max_speed_ parameter to lidar and people speed control (default=1.0) - for robot and simulation
  • change nav2_params.yaml
  • change menu limit

min: 0.0
max: 1.0

  • URDF simulator limits

With those changes, still, the simulator does not speed up faster than around 1.08m/s.
Navigation2 controller may need to be optimized for faster speed.

@daisukes
Copy link
Contributor Author

The following parameters for Navigation2 need to be updated to increase the max velocity.

-      prune_distance: 2.7 # default: 1.7 # should be greater than max_vel_x * sim_time + some margin
+      prune_distance: 5.4 # default: 1.7 # should be greater than max_vel_x * sim_time + some margin
-      max_vel_x: 1.0
+      max_vel_x: 2.0
-      max_speed_xy: 1.0
+      max_speed_xy: 2.0

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

1 participant