How to adjust the speed of turtlebot when doing AMCL SLAM?

[AlexR]

Hi, 

I would like to know that how can I change the speed of the turtlebot when doing localization in a pre build map when using the amcl.launch file. 

The default values makes the turtlebot run very fast. I want to decrease the speed when doing the SLAM localization.

Thanks 

Alex

[Tim Murphy]

base_local_planner_params.yaml has:

  max_vel_x: 

  min_vel_x: 

  max_vel_theta: 

  min_vel_theta: 

and accel limits.

Thanks,

Tim

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[Patrick Goebel]

Hi Alex,

Thanks Tim!  From my own experience, a value for max_vel_x as low as 0.2 is still quite fast when running a robot indoors, so you might want to go even lower--0.15 or even 0.1 to see how it looks.

Also, the acc_lim_x and acc_lim_theta parameters can significantly affect how the robot tracks the planned path.  If you find your Turtlebot "fish tailing" as it moves, try changing the acc_lim_theta parameter.  (Depending on your max_vel_x value, you may have to increase or decrease acc_lim_theta.)

Finally, you can experiment with all of these parameters in real time using rqt_reconfigure.  After you launch all your TurtleBot and AMCL nodes, bring up rqt_reconfigure:

$ rosrun rqt_reconfigure rqt_reconfigure

and click on the TrajectoryPlannerROS category as shown below:



Here you can see I have set the max_vel_x value to 0.15.  (Note that a value doesn't change until you click or tab out of the field you are editing.)

After each parameter change, try setting a new navigation goal for your robot a short distance away from its current position so you can assess the results.

Once you find a set of parameters you like, edit your base_local_planner_params.yaml file accordingly, then restart your AMCL/move_base launch file(s).

--patrick

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[AlexR]

Hi Patrick,

Thanks for your reply. Also, thank you Tim. 

Can I use the dynamic reconfigure online while operating the robot or do I have to kill the node and relaunch the turtlebot with amcl launch everytime I change the values? 

Thanks 

Alex.

[Patrick Goebel]

Hi Alex,

That great thing about dynamic reconfigure parameters is that you do not have to restart the relevant nodes.

--patrick

[AlexR]

Hi Patrick,

Thanks for information. 

Regards

Alex