Pr2 whirling like a dervish
When using the [pr2_2dnav_local](http://www.ros.org/wiki/pr2_2dnav_local) and setting a goal very close to an obstacle, the robot starts rotating in place. My guess is that this is related to the...
View Articledwa_planner vs. base_local_planner
The navigation stack contains the trajectory planner and the dwa local planner. Which one should one rather use? Which one will most effort in the future go into? The wiki provides only very sparse...
View ArticleDynamic Window Approach(dwa) parameter should be false ? true ?
Hi, I'm using nav stack with both of my robot and turtlebot. I have a question about dwa parameter. Can I set it false ? Without DWA, the robot moves fast(it's natural) and smoothly, and can avoid...
View ArticleTrajectoryPlanner vs DWAPlanner
We have a non-holonomic robot at our lab and I've been trying to make it move safely. With the TrajectoryPlannerROS (with use_dwa enabled) it works, but I really like the modularity of DWAPlannerROS....
View ArticleTesting DWA Local Planner - approaches goal, stops, keeps swinging left & right
I'm trying the DWA Local Planner as an alternative for the TrajectoryPlanner. At first it moves heading to the given goal pretty fast. But *close* to the goal, that is about half a meter which still is...
View ArticleHow do I implement a local planner that doesn't rotate in place?
I'm new to using the navigation stack, and I have a robot with Ackermann steering. When I simulate the robot, any 2D Nav Goal set behind it will cause the robot to freeze up, publishing angular cmd_vel...
View ArticleBase local vs DWA planner for omnidirectional platform
I have a omnidirectional mobile platform , which it has the follow measures:length:2550 mm width:1700 mm The cinematic measures are: Max Linear Velocity: 1m/sec Max Linear Acceleration 0.15m/sec Max...
View ArticleCould not get global path when set to dwa_local_planner
Hi all I am using Fuerte. I am trying the dwa local planner by setting the below in move_base node param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" The problem is that I am not...
View Articlemulti robot collision avoidance package missing
Hi all, The link to the package multi_robot_collision_avoidance (http://wiki.ros.org/multi_robot_collision_avoidance) is no longer active. I understand that kforge.ros.org is no longer active. Is it...
View ArticleHow do I implement my own local planner?
I want to implement my own local planner that adheres to base_local_planner for use with move_base. I need to make a planner that does not allow for rotation in place (car-like steering). I have tried...
View ArticleVirtual Corridor for Robot Navigation, Updating CostMap
Hello, I'm asking this question again, in case there were some new thoughts from the ROS community I'm trying to add a "virtual" corridor along the waypoints generated by the global planner (waypoints...
View ArticleChanging global/local planner weights
Hi, I'm using a turtlebot 2 to build the map of a room and a corridor. I was having some problems because there's a *glass wall* between them and the kinect doesn't detect it very well. To solve this...
View ArticleDWAPlanner::checkTrajectory always success
Hello, I try to use the dwa_local_planner::DWAPlanner::checkTrajectory. I have edit the dwa_planner_ros.cpp and .h in order to subsrcibe to a path and i want to check if the trajectory is right. I use...
View Articlebase_local_planner does not respect velocity constraints
I have a custom robot with fairly low vel and acc constraints, especially in theta. To be more precise: max_rotational_vel: 0.1 max_vel_theta: 0.1 max_vel_x: 0.5 min_in_place_vel_theta: 0.05...
View ArticleWhy does the DWA Local Planner need an acceleration value of >= 1.0?
Sometimes, in cluttered environments, our (differential wheeled) robot seems to accelerate too fast and navigates itself into places it cannot escape from. Just to test if a lower acceleration would do...
View ArticleDWA planner failed to produce path
**UPDATE:** In the end this seems to be due to a strange interaction between our robot model and environment that seems to have only manifested under OS X. Thanks for all your help though. I am running...
View Articlehow to run base_local_planner and dwa_local_planner standalone?
hi, all, I am trying to run the navigational core move_base separately. there are number of nodes to run before it functions properly. among them, I cannot find any executable under base_local_planner...
View Articledwa_planner: trajectory_cloud topic not showing up
Hello, When we run move_base with dwa_local_planner, doing a `rostopic list` shows a topic named /move_base/DWAPlannerROS/trajectory_cloud, and another named /move_base/DWAPlannerROS/cost_cloud....
View Article*ROS Navigation Alternative Algorithms
Hi, I have a few questions about the current ROS Navigation stack: 1. Local Planner: Currently there are two options - base_local_planner and the dwa_local_planner. Is there any work on more planners...
View ArticleNavigation, AMCL, amcl_pose
Hello, I'm debugging the navigation stack set up on my robot. My question is about `amcl_pose`. This topic is published by `amcl` (or `fake_localization`), and in my robot `amcl_pose` is being...
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