I want to set min and max values that DWAPlannerROS can send to cmd_vel as these values were empirically measured for my robot.
This is how I stated my yaml file:
recovery_behavior_enabled: true
clearing_rotation_allowed: true
DWAPlannerROS:
acc_lim_x: 1
acc_lim_y: 0
acc_lim_theta: 1.6
max_vel_trans: 1.6
min_vel_trans: 0.8
max_vel_x: 1.6
min_vel_x: 0.8
max_vel_y: 0.0
min_vel_y: 0.0
min_vel_theta: 10
max_vel_theta: 11
holonomic_robot: false
xy_goal_tolerance: 0.3
yaw_goal_tolerance: 0.20
latch_xy_goal_tolerance: true
sim_time: 4
sim_granularity: 0.05
vx_samples: 5
vy_samples: 0
vth_samples: 5
controller_frequency: 15
occdist_scale: 0.01
oscillation_reset_dist: 0.2
publish_cost_grid: false
global_frame_id: odom
simple_attractor: false
reset_distance: 4
prune_plan: true
However, I echoed the /cmd_vel topic and I can see that move_base still sends the values below 10 for angular.z:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0
Why is it sending these values?
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How to set min and max angular values in DWAPlannerROS?
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DWA local planner problem when an obstacle is detected on the goal
Dear all,
I am facing a problem that I do not know how to fix it.
I use the [move_base/global_planner](http://wiki.ros.org/global_planner) as the *global_planner* and the [DWA_local_planner](http://wiki.ros.org/dwa_local_planner) as the *local_planner*.
In order to have the full control of the trajectory I have divided the trajectory into lany short trajectory by using some *WayPoints*. As you can see in the following picture, when there is and obstacle on on waypoint, the *DWA_local_planner* completely stops till the point would be free (the obstacles moves). I have put a very large radius for each waypoints (around 2.5 m) so as you see in the picture, the */move_base/DWAPlannerROS/Global_planner* already sends the trajectory to the next Waypoint but the robot completely stops.
By using the [TEB_local_planner](http://wiki.ros.org/teb_local_planner) as the *local_planner* the problem is solved but I want (for certain reasons) use the *DWA_local_planner*.
I was wondering if anyone can help me to understand how to fix this problem.
Thanks,
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DWALocalPlanner very small theta velocities
I am running DWALocalPlanner with these parameters:
DWAPlannerROS:
# Robot configuration parameters
acc_lim_x: 0.8
acc_lim_y: 0
acc_lim_theta: 0.8
max_vel_x: 0.3
min_vel_x: 0
max_vel_y: 0
min_vel_y: 0
holonomic_robot: false
max_vel_theta: 1.8
min_vel_theta: 0
max_trans_vel: 0.3
min_trans_vel: 0
max_rot_vel: 1.8
min_rot_vel: 1.2
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.05
xy_goal_tolerance: 0.1
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 4
vy_samples: 0
vx_samples: 20
vth_samples: 40
# Trajectory scoring parameters
path_distance_bias: 32.0
goal_distance_bias: 20.0
occdist_scale: 0.02
oscillation_reset_dist: 0.05
And the problem occurs sometimes when robot needs to rotate inplace in order to go to the goal. It gives very small velocity commands to angular.z and my robot simply cannot move as the velocity is very small. In fact, DWA gives like 0.2,0.4 rad/s whereas the minimum angular velocity that my robot can do is 1 rad/s (even if you think about it, 1 rad/s is pretty slow, needs 6 seconds for a full rotation).
I have tried to set min_vel_theta to 1.0 but in that case, robot simply cannot set angular velocity to 0.0.
Is there a solution or do I need to modify source code for that?
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Mini-Turty robot get stuck on corner when navigating
I created a map using a Rhoeby Dynamics Mini-Turty II robot and am using that to do navigation. It works most of the time, but sometimes it gets "stuck" on corners. As far as I can determine, it seems to create a global path that is too close to the obstacle (eg. corner of a wall). Then when it navigates along the path, it appears to just barely enter the "lethal" area and then gives up (goes into recovery behaviors). Is there a way to have the global path take a wider route around obstacles?
The robot is using Ubuntu 16.04 on Raspberry Pi 3, Kinetic, Move Base, DWA planner and AMCL.
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DWA local planner parameters are never used
Hi,
When trying to configure DWA local planner parameters, i've found that [parameters](http://wiki.ros.org/dwa_local_planner) **scaling_speed** and **max_scaling_factor** are never *really* used.
Both of these parameters are only(?) called in [ObstacleCostFunction::getScalingFactor](https://github.com/ros-planning/navigation/blob/5a6ad24cf1bbc8ac08c06ef258fdf0bbdb3f9789/base_local_planner/src/obstacle_cost_function.cpp#L76), but the return value (scale) who is called in [ObstacleCostFunction::footprintCost](https://github.com/ros-planning/navigation/blob/5a6ad24cf1bbc8ac08c06ef258fdf0bbdb3f9789/base_local_planner/src/obstacle_cost_function.cpp#L86) is never used in the [footprintCost](https://github.com/ros-planning/navigation/blob/5a6ad24cf1bbc8ac08c06ef258fdf0bbdb3f9789/base_local_planner/src/obstacle_cost_function.cpp#L116) method.
Is that normal?
Thanks,
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DWA planner parameters setting
I have a ROSbot (small robot from Husarion 30x30cm) used for navigation.
I want to apply DWA planner but i can't get the parameters right. Can some people share parameter settings of de DWAplanner with localcostmap settings? I just want tot know that the settings are for small robots in small area's like 4x4 m^ 2.
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SBPL -can't find package
Hi, after installing all the packages connected with [Dwa_local_planner](https://github.com/ros-planning/navigation), including those:
http://github.com/ros-planning/navigation_msgs (new in Jade+)
http://github.com/ros-planning/navigation_tutorials
http://github.com/ros-planning/navigation_experimental
I have errors after catkin_make:
By not providing "FindSBPL.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "SBPL", but
CMake did not find one.
Could not find a package configuration file provided by "SBPL" with any of
the following names:
SBPLConfig.cmake
sbpl-config.cmake
Add the installation prefix of "SBPL" to CMAKE_PREFIX_PATH or set
"SBPL_DIR" to a directory containing one of the above files. If "SBPL"
provides a separate development package or SDK, be sure it has been
installed.
How can I fix it?
Thanks!
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How connect robot to DWA_local_planner
Hi!
I have cloned dwa_local_planner algorithm from here: https://github.com/ros-planning/navigation.git.
Can you tell me what do I need to do to connect it to my robot and world? How does it work?
Thanks a lot.
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target_frame map does not exist
HI, I have a problem with, in my opinion, read map through move_base node.
When I launch my move_base.launch I got a WARN:
[ WARN] [1559215881.016792500, 588.765000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 588.765 timeout was 0.1.
But next communicats are:
[ INFO] [1559215882.172031593, 589.785000000]: Using plugin "static"
[ INFO] [1559215882.193340817, 589.801000000]: Requesting the map...
[ INFO] [1559215882.456086100, 590.027000000]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1559215882.590548878, 590.134000000]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1559215882.590664833, 590.135000000]: Subscribing to updates
[ INFO] [1559215882.608805401, 590.144000000]: Using plugin "inflation"
[ INFO] [1559215882.810460955, 590.298000000]: Using plugin "obstacles_laser"
[ INFO] [1559215882.815282109, 590.302000000]: Subscribed to Topics: laser
[ INFO] [1559215882.876871143, 590.351000000]: Using plugin "inflation"
[ INFO] [1559215882.971461633, 590.425000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1559215882.990769389, 590.442000000]: Sim period is set to 0.05
[ INFO] [1559215883.263756661, 590.676000000]: Recovery behavior will clear layer obstacles
[ INFO] [1559215883.278203387, 590.686000000]: Recovery behavior will clear layer obstacles
[ INFO] [1559215883.503132378, 590.831000000]: odom received!
In my map.yaml I have direct path to map.pgm
I do not know if this is a problem or not because:
- When I use DWAPlannerROS and send a goal in rviz, my model isn't moving, and move_base send a communicat:
***DWA planner failed to produce path***
- When I use TrajectoryPlannerROS and
send a goal in rviz, my model is
moving, but not to a goal just
somewhere on the map and smoetimes appears communicat: ***[ WARN] [1559217281.143489606, 1767.469000000]: Map update loop missed its desired rate of 4.0000Hz... the loop actually took 0.2680 seconds***
I use p3dx model, on ROS Melodic, Ubuntu 18.04
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