问题描述:规划路线后,需要机器人原地转动角度大于180度,在机器人转动时,会大概率出现不断转圈问题
分析过程:
smoother初始参数:
speed_lim_v: 0.8
speed_lim_w: 5.4
accel_lim_v: 1.0 # maximum is actually 2.0, but we push it down to be smooth
accel_lim_w: 2.0
# Optional parameters
frequency: 20.0
decel_factor: 1.5
# Robot velocity feedback type:
# 0 - none (default)
# 1 - odometry
# 2 - end robot commands
robot_feedback: 2
减小角速度的最大速度和最大加速度后,问题依然存在
speed_lim_v: 0.8
speed_lim_w: 2.7
accel_lim_v: 1.0 # maximum is actually 2.0, but we push it down to be smooth
accel_lim_w: 1.0
# Optional parameters
frequency: 20.0
decel_factor: 1.5
# Robot velocity feedback type:
# 0 - none (default)
# 1 - odometry
# 2 - end robot commands
robot_feedback: 2
查看move_base下发的命令,发现下发的角速度依然是朝一个方向不断在转圈
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