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Fix velocities
Signed-off-by: Francisco Martín Rico <[email protected]>
1 parent a9eea30 commit 24ece04

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3 files changed

+31
-21
lines changed

3 files changed

+31
-21
lines changed

br2_navigation/params/tiago_nav_params.yaml

Lines changed: 15 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -96,9 +96,19 @@ bt_navigator:
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# Built-in plugins are added automatically
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# plugin_lib_names: []
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99-
error_code_names:
100-
- compute_path_error_code
101-
- follow_path_error_code
99+
error_code_name_prefixes:
100+
- assisted_teleop
101+
- backup
102+
- compute_path
103+
- dock_robot
104+
- drive_on_heading
105+
- follow_path
106+
- nav_thru_poses
107+
- nav_to_pose
108+
- spin
109+
- route
110+
- undock_robot
111+
- wait
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103113
bt_navigator_navigate_through_poses_rclcpp_node:
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ros__parameters:
@@ -170,9 +180,9 @@ controller_server:
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debug_trajectory_details: True
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min_vel_x: 0.0
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min_vel_y: 0.0
173-
max_vel_x: 0.3
183+
max_vel_x: 0.1
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max_vel_y: 0.0
175-
max_vel_theta: 5.00
185+
max_vel_theta: 3.00
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min_speed_xy: 0.0
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max_speed_xy: 1.00
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min_speed_theta: 0.0

br2_vff_avoidance/src/br2_vff_avoidance/AvoidanceNode.cpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -68,8 +68,8 @@ AvoidanceNode::control_cycle()
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6969
// Create ouput message, controlling speed limits
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geometry_msgs::msg::Twist vel;
71-
vel.linear.x = std::clamp(module, 0.0, 0.3); // truncate linear vel to [0.0, 0.3] m/s
72-
vel.angular.z = std::clamp(angle, -0.5, 0.5); // truncate rotation vel to [-0.5, 0.5] rad/s
71+
vel.linear.x = std::clamp(module, 0.0, 0.1); // truncate linear vel to [0.0, 0.3] m/s
72+
vel.angular.z = std::clamp(angle, -0.3, 0.3); // truncate rotation vel to [-0.5, 0.5] rad/s
7373

7474
vel_pub_->publish(vel);
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third_parties.repos

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@ repositories:
22
ThirdParty/tiago_simulation:
33
type: git
44
url: https://github.com/Tiago-Harmonic/tiago_simulation.git
5-
version: rolling
5+
version: kilted
66
ThirdParty/launch_pal:
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type: git
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url: https://github.com/Tiago-Harmonic/launch_pal.git
@@ -18,52 +18,52 @@ repositories:
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ThirdParty/play_motion2:
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type: git
2020
url: https://github.com/Tiago-Harmonic/play_motion2.git
21-
version: rolling
21+
version: kilted
2222
ThirdParty/pmb2_robot:
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type: git
2424
url: https://github.com/Tiago-Harmonic/pmb2_robot.git
25-
version: rolling
25+
version: kilted
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ThirdParty/pmb2_navigation:
2727
type: git
2828
url: https://github.com/Tiago-Harmonic/pmb2_navigation.git
29-
version: rolling
29+
version: kilted
3030
ThirdParty/tiago_robot:
3131
type: git
3232
url: https://github.com/Tiago-Harmonic/tiago_robot.git
33-
version: rolling
33+
version: kilted
3434
ThirdParty/tiago_navigation:
3535
type: git
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url: https://github.com/Tiago-Harmonic/tiago_navigation.git
37-
version: rolling
37+
version: kilted
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ThirdParty/tiago_simulation:
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type: git
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url: https://github.com/Tiago-Harmonic/tiago_simulation.git
41-
version: rolling
41+
version: kilted
4242
ThirdParty/pal_hey5:
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type: git
4444
url: https://github.com/Tiago-Harmonic/pal_hey5.git
45-
version: rolling
45+
version: kilted
4646
ThirdParty/pal_gripper:
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type: git
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url: https://github.com/Tiago-Harmonic/pal_gripper.git
49-
version: rolling
49+
version: kilted
5050
ThirdParty/pal_robotiq_gripper:
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type: git
5252
url: https://github.com/Tiago-Harmonic/pal_robotiq_gripper.git
53-
version: rolling
53+
version: kilted
5454
ThirdParty/tiago_moveit_config:
5555
type: git
5656
url: https://github.com/Tiago-Harmonic/tiago_moveit_config.git
57-
version: rolling
57+
version: kilted
5858
ThirdParty/tiago_omni_base:
5959
type: git
6060
url: https://github.com/Tiago-Harmonic/omni_base_robot.git
61-
version: rolling
61+
version: kilted
6262
ThirdParty/pal_urdf_utils:
6363
type: git
6464
url: https://github.com/Tiago-Harmonic/pal_urdf_utils.git
65-
version: rolling
65+
version: kilted
6666
ThirdParty/yaets:
6767
type: git
6868
url: https://github.com/fmrico/yaets.git
69-
version: rolling
69+
version: kilted

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