“/motors_ctrl”as an example. It is publishing to
“nav_msgs/Odometry”message type, along with the other topics in the list. It also subscribes to
“/cmd_vel”topic with message type
#Robot” section. To tune the speed of the robot, configure
max_vel_xfor linear speed, and
max_vel_thetafor angular speed. If the robot is not reaching the max speed, increase
acc_lim_theta. In footprint_model, select a suitable model type and configure the corresponding parameters.
#Obstacles” section, tune the value of
min_obstacle_distto set how far away the robot should keep away from obstacles. Reduce this parameter value if the robot is required to go through narrow spaces.