## [PlayerStage-Gazebo] Problem with Turnrate selection

 [PlayerStage-Gazebo] Problem with Turnrate selection From: s.usman ahmed - 2011-03-18 14:48:52 Hello Everyone, I am using playerstage for mobile robot navigation and path planning. I am confused with what "Turnrate" means in SetSpeed(speed, turnrate) function. What I have conceived so far is that if I want to move my robot from (-114,25) to (-110,30) in the stage window and my robot speed is 5 than I will calculate euclidean distance between these two points i.e 6.4. So total time robot will take to reach destination point will be 5/6.4=0.78 and change of angle from initial point to destination will be atan((30-25)/(-110- (-114))) and than convert to radians. I calculate the turnrate by dividing this angle with time calculated. When I use this turnrate in simulation I noticed that robot moves mush faster in X direction and exceeds -110 coordinates whereas Y coordinates changes slightly to new value of about 26 whereas i was expecting it to be 30. please help me to solve this problem. Thanks in advance.

 [PlayerStage-Gazebo] Problem with Turnrate selection From: s.usman ahmed - 2011-03-18 14:48:52 Hello Everyone, I am using playerstage for mobile robot navigation and path planning. I am confused with what "Turnrate" means in SetSpeed(speed, turnrate) function. What I have conceived so far is that if I want to move my robot from (-114,25) to (-110,30) in the stage window and my robot speed is 5 than I will calculate euclidean distance between these two points i.e 6.4. So total time robot will take to reach destination point will be 5/6.4=0.78 and change of angle from initial point to destination will be atan((30-25)/(-110- (-114))) and than convert to radians. I calculate the turnrate by dividing this angle with time calculated. When I use this turnrate in simulation I noticed that robot moves mush faster in X direction and exceeds -110 coordinates whereas Y coordinates changes slightly to new value of about 26 whereas i was expecting it to be 30. please help me to solve this problem. Thanks in advance.