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base_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
min_vel_theta: -0.1
min_vel_x: 0

The problem

When I give a goal to the planner, it usually manages to reach it after a while, but on several occasions just start rotating on itself at high speeds.

My setup

My planners are setup so that the localcostmap is always empty (no sensor used to mark it), and my globalcostmap is filled in with a static map which is of decent quality (obtained with a Kinect). I've tested the AMCL localization part and it seems ok, it is a bit jumpy at times but it doesn't look correlated to when the robot decides to rotate on itself.

Some data

After debugging, I've noticed that the planner sends /cmd_vel messages that do not respect the constraints I've given it.

I've rebuilt the navigation stack to show more logs, and I pasted the output of a simple run here

http://pastebin.com/yAHf61f5

On the logs, you'll see sometimes the planner gives me a very high rotational speed command (lines 48 and 87 for example), and for no apparent reason (no recovery behavior triggered)

Asked by chopchop on 2014-08-14 08:15:34 UTC

Comments

I'm having a similar problem. Did you ever figure this out?

Asked by Icehawk101 on 2015-09-18 09:51:09 UTC

facing same scenario. Still debugging it.

Asked by darshb34 on 2020-10-20 21:47:05 UTC

Answers