Modified yesterday by gibernas
If your Duckiebot does not yield satisfactory results in intersection navigation, you might want to tune the related parameters.
unicorn_intersection_node (long story for the name) is a mixture of open loop commands and a re-use of the lane filter.
During the intersection, namely when the Duckiebot is in the
INTERSECTION_CONTROL, the color perception of lines is changed. As a simple example if the goal is to go straight, the red lines will be perceived as white, so that it will be possible to follow the right white line. On top of this there are a few open loop commands that are used to help the Duckiebot face the correct direction. These parameters are stored in
You can change them online (while the demo is running) by using:
duckiebot-container $ rosparam set your_parameter your value
You can see all the parameters by running:
duckiebot-container $ rosparam list
And check the value of a specific one using:
duckiebot-container $ rosparam get param name
The ones you might want to modify are the feed-forward parts, stored in
ff_straight. These parameters modify the output $\omega$ (angular velocity, positive in counterclockwise direction) for the time given in
time_right_turn, which you might want to change aswell.
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