“/motors_ctrl”
as an example. It is publishing to “/odom”
topic with “nav_msgs/Odometry”
message type, along with the other topics in the list. It also subscribes to “/cmd_vel”
topic with message type “geometry_msgs/Twist”
#Robot
” section. To tune the speed of the robot, configure max_vel_x
for linear speed, and max_vel_theta
for angular speed. If the robot is not reaching the max speed, increase acc_lim_x
and acc_lim_theta
. In footprint_model, select a suitable model type and configure the corresponding parameters.#Obstacles
” section, tune the value of min_obstacle_dist
to 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.
timeout_autonomous
.