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This is definitely a tuning thing and unfortunately there's no substitution for good tuning in a critic based system. Between DWB and MPPI, there's definitely the behavior you want possible but its going to take some time to tune the system for what you want if it doesn't do what you want out of the box. As much as I try my hardest to make things work well out of the box, the local trajectory planners are a unique instance that when you want something different than what I pre-tuned for you, its going to be a few days of tuning and building that intuition for yourself to get things in a good spot for the behavior you desire. No other advanced trajectory planning technique with dynamic behavior is going to be much, if at all, easier.

There are some other somewhat hacky solutions (depending on your view point) that could be played to make it easier, but I don't want to digress too much in this ticket. But I'll leave the point that just because you have a global plan, doesn't mean you could also have a local-global plan for the local-local planner to track for handling large but static deviations. Small and dynamic deviations the local planner should be able to be tuned to handle (probably also large / static too, but there are trade-offs)

This is definitely a tuning thing and unfortunately there's no substitution for good tuning in a critic based system. Between DWB and MPPI, there's definitely the behavior you want possible but its going to take some time to tune the system for what you want if it doesn't do what you want out of the box. As much as I try my hardest to make things work well out of the box, the local trajectory planners are a unique instance that when you want something different than what I pre-tuned for you, its going to be a few days of tuning and building that intuition for yourself to get things in a good spot for the behavior you desire. No other advanced trajectory planning technique with dynamic behavior is going to be much, if at all, easier.

There are some other somewhat hacky solutions (depending on your view point) that could be played to make it easier, but I don't want to digress too much in this ticket. But I'll leave the point that just because you have a global plan, doesn't mean you could also have a local-global plan for the local-local planner to track for handling large but static deviations. Small and dynamic deviations the local planner should be able to be tuned to handle (probably also large / static too, but there are trade-offs)too. The choice of one vs the other cannot really be made without trying both to see what behavioral trade-off is best for your application)