Has anyone experimented with running move_base with the mbs_unitree_ros high level node?
I’m sending out commands to
cmd_vel topic, and I’m using DWAPlannerROS at the moment. There are some room for configuring it for the A1 robot, and I’m specifically trying to tune the min/max velocity parameters, e.g.
max_vel_x: 0.17 min_vel_x: -0.1 max_vel_y: 0.1 min_vel_y: -0.1 max_vel_trans: 0.17 min_vel_trans: -0.17 max_vel_theta: 0.2 min_vel_theta: -0.2
These are values that seem sensible, but I can’t seem to really dial it in. Any help would be appreciated.