My specs: player 2.1.2 & stage 2.1.1
I am using the vfh driver for a robot's local path planning.
1. How can I set the minimum distance so that the robot will avoid
before colliding with other robot or obstacles ? I want to make the
robot *not* to be too near (below a threshold value that I give) to
other robots and obstacles.
"The primary parameters to tweak to get reliable performance are
safety_dist and free_space_cutoff. In general, safety_dist determines
how close the robot will come to an obstacle while turning (around a
corner for instance) and free_space_cutoff determines how close a
robot will get to an obstacle in the direction of motion before
turning to avoid."
>From the documentations, as quoted above, the configuration file
options for the vfh driver that I should set is: free_space_cutoff
(which is actually: free_space_cutoff_0ms and free_space_cutoff_1ms
that have default unitless value of: 2000000.0). I have tried
changing this option (minimizing the value), but it seems like not
reflecting the minimum distance that I hoped. - i.e. I'm not sure
whether it actually worked or not.
I also changed the safety_dist option (which is actually:
safety_dist_0ms and safety_dist_1ms that has default value of 0.1 m)
to be a higher value, and it seems to be working but the movement
seems a bit odd, I guess as its obeying the threshold given.
Is this the correct/only way to do it in order to achieve what I want ?
2. I've noticed that the max_speed option can be given higher than 1
(m/sec). And it looks like that the options safety_dist_0ms (i.e. when
stopped) and safety_dist_1ms (i.e. when travelling at 1 m/s) is still
obeyed even though the robot's speed is more than 1 m/s. Is this true
? As it seems to be so..
Thank you for any help given,