How to increase the robot's velocity

[yumingdong]

I use the eband_local_planner as the base_local_planner for my four mecanum wheels base, and the eband_local_planner_params is as follows:

EBandPlannerROS:
   xy_goal_tolerance: 0.03
   yaw_goal_tolerance: 0.05
   rot_stopped_vel: 0.01
   trans_stopped_vel: 0.01
   marker_lifetime: 0.5
   eband_min_relative_overlap: 0.7
   eband_tiny_bubble_distance: 0.01
   eband_tiny_bubble_expansion: 0.01
   eband_internal_force_gain: 1.0
   eband_external_force_gain: 2.0
   num_iterations_eband_optimization: 3
   eband_equilibrium_approx_max_recursion_depth: 4
   eband_equilibrium_relative_overshoot: 0.75
   eband_significant_force_lower_bound: 0.15
   costmap_weight: 10.0


   max_vel_lin: 0.8
   max_vel_th: 0.6
   min_vel_lin: 0.1
   min_vel_th: 0.0
   min_in_place_vel_th: 0.2
   in_place_trans_vel: 0.0
   k_prop: 4.0
   k_damp: 3.5
   Ctrl_Rate: 10.0
   max_acceleration: 1.0
   virtual_mass: 0.75
   max_translational_acceleration: 1.0
   max_rotational_acceleration: 1.2
   rotation_correction_threshold: 0.5
   differential_drive: false
   bubble_velocity_multiplier: 2.0
   rotation_threshold_multiplier: 1.0
   disallow_hysteresis: false

From the above configure parameters, I have set the max_vel_lin is 0.8 m/s . But in the test, I have found that the robot's max_speed is only 0.43m/s. I have tune some parameters: k_drop, k_damp, eband_tiny_bubble_distance, etc. I have increase and decrease such parameters, but the robot's max_speed is also about 0.43 m/s. I don't know how to tune which parameters to increase the robot's speed. By the way , I use dwa_local_planner the robot's max_speed can meet the requirements.

[predoli]

@yumingdong
I also use eband_local_planner with mecanum wheels. I could reproduce your issue. @yumingdong do you get Y-linear speed commands form the local_planner to use the sideways motion capabilities?
That also doesn't work in my setup (even when i use your parameters)
Waht global_planner do you use?

[yumingdong]

Yes，the robot seldom set the Y-linear speed until the robot adhere to the goal. I have use the navfn planner as the global_planner(the default planner of base_global_planner).Could you instruct me how to config such parameters to move my robot like the video of https://www.youtube.com/watch?v=KJgHAhJxUr0 Thank you very much !