Max Speed issue

1

I am facing a maximum amcl speed issue where i am able to reduce the speed but not increase it over 0.31m/s.
while i am able to change the speed to 0.1m/s but not over 0.31m/s.
Are there any other parameters i need to consider before being able to change the maximum limit.

2

Hello angtzewern,

The amcl itself does not limit the robot speed in any way, it is responsible only for localization.
Could you describe in more details where did you face the issue and how are you measuring the speed?

Regards,
Łukasz

3

My agv speed is unable to move beyond 0.3m/s while under 0.3m/s
there is a feedback pose that measure the speed of my agv which is always publishing in m/s (from a buildin device of my agv).
Using manual teleop keyboard i am able to get to a max speed of 1.5m/s.
While using amcl i am only able to get 0.3m/s.

This the DWAPlannerROS param
max_trans_vel: 0.5
min_trans_vel: 0.05
max_vel_x: 0.7
min_vel_x: -0.025
max_vel_y: 0.0
min_vel_y: 0.0
max_rot_vel: 0.2
min_rot_vel: -0.2
acc_lim_x: 1.25
acc_lim_y: 0.0
acc_lim_theta: 5
acc_lim_trans: 1.25

4

There are two parameters that are limiting your device speed:

  • max_trans_vel: 0.5 - this is the maximum linear speed in any direction (as a resultant)
  • max_vel_x: 0.7 - this is the maximum linear speed along x axis
    Both parameters are in m/s. Set speed will never excess these values.

You can also check the /cmd_vel topic to see what speed is being set by the path planner.
You should also keep in mind, that path planner takes into account many factors while selecting speed, these could be distance to obstacles, trajectory curvature or distance to be traveled.

Regards,
Łukasz