Where is move_basic file?

1

Hi!

I would like to ask where I can find move_basic file? I would like to edit some valuse as the distance to the obstacles. I would like to set the speed of the magni. How I can do that? Thank you for your help.

2

Assuming you’re using the default setup, the launched move_basic is probably the one in magni_robot/magni_nav/launch/move_basic.launch

If that file doesn’t have all the params listed you can check the following example and just paste them in:


<?xml version="1.0"?>

<launch>
  
  <!-- ================================ CHANGABLE PARAMS =============================================================== -->
  
  <!--  maximum velocity when robot driving in a straight line in m/s. Max tested was 0.7m/s. Recommended is around 0.3 m/s
        ! WARNING: If set to high the robot could start behaving erratically! -->
  <arg name="max_linear_velocity" default="0.5"/>

  <!--  maximum velocity when robot turning on spot rad/s. Max tested was 0.7 rad/s. Recommended is 0.5 rad/s 
        ! WARNING: If set to high the robot could start behaving erratically! -->
  <arg name="max_turning_velocity" default="0.5"/>
  
  <!-- ================================================================================================================== -->

  <node name="move_basic" pkg="move_basic" type="move_basic"  output="screen">    
    <param name="base_frame" value="base_link"/>
    <param name="min_turning_velocity" value="0.18"/>
    <param name="max_turning_velocity" value="$(arg max_turning_velocity)"/>
    <param name="max_lateral_velocity" value="0.5"/>
    <param name="max_linear_velocity" value="$(arg max_linear_velocity)"/>
    <param name="min_linear_velocity" value="0.1"/>
    <param name="linear_acceleration" value="0.2"/>
    <param name="turning_acceleration" value="0.2"/>
    
    <param name="angular_tolerance" value="0.02"/>
    <param name="linear_tolerance" value="0.02"/> 
    
    <param name="lateral_kp" value="0.1"/>
    <param name="lateral_kd" value="8.0"/>
    <param name="lateral_ki" value="0.0"/>
    
    <param name="localization_latency" value="0.5"/>
    
    <param name="runaway_timeout" value="0.5"/>    

    <param name="obstacle_wait_threshold" value="60.0"/>

    <param name="forward_obstacle_threshold" value="0.2"/>
    <param name="robot_back_length" value="0.33"/>
    <param name="min_side_dist" value="0.2"/>
    <param name="robot_width" value="0.2"/>
    <param name="robot_front_length" value="0.2"/>

    <param name="rotational_gain" value="3.5"/> <!-- relic from the past, should be removed with new move_basic-->  
    <param name="abort_timeout" value="0.5"/>  <!-- relic from the past, should be removed with new move_basic-->  
    <param name="linear_gain" value="0.5"/> <!-- relic from the past, should be removed with new move_basic-->
    <param name="reverse_without_turning_threshold" value="0.1"/> <!-- relic from the past, should be removed with new move_basic-->
    <param name="velocity_threshold" value="0.2"/> <!-- relic from the past, should be removed with new move_basic-->

    <remap from="/move_base/goal" to="move_base/goal"/>
    <remap from="/move_base_simple/goal" to="move_base_simple/goal"/>
    <remap from="/plan" to="plan"/>
    <remap from="/obstacle_viz" to="obstacle_viz"/>
    <remap from="/cmd_vel" to="cmd_vel"/>
    <remap from="/lateral_error" to="lateral_error"/>
    <remap from="/obstacle_distance" to="obstacle_distance"/>
    <remap from="/plan" to="plan"/>
    <remap from="/scan" to="scan_filtered"/>
    
  </node>
</launch>
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