Local planner not correct

Hi,

I am using the amcl module from the navigation stack, and the dwalocalplanner. As you can see on the picture below, the global planner seems to be correct while the local planner is not, therefore my robot gets stuck.

trajectory

My simtime (from dwalocalplannerparams.yaml) is set to 1.0. maxvelx was originally set to 1.0 and I set it to 0.55 but nothing changed. In costmapcommonparams.yaml, I've tried to set the z_voxels parameter to 20, although it originally was set to 2, but it didn't change anything.

Finally, in localcostmapparams.yaml, I changed the resolution to 0.1 instead of 0.05, but it didn't work.

Do you have any idea as to why it isn't working the way I would like it to?

Thank you for your help.

Asked by rosargh on 2017-08-16 06:58:38 UTC

Comments

Could I ask you to attach your image directly to your question? I've given you enough karma to do so.

Thanks.

Asked by gvdhoorn on 2017-08-16 07:07:18 UTC

I also have changed values in the local planner yaml and the changes appear to be ignored. sim_time, max and min speeds. Some entries in my log that may be related are 198(Costmap2DROS::resetOldParameters) Loading from pre-hydro parameter style

[/tmp/binarydeb/ros-melodic-dwa-local-planner-1.16.2/src/dwa_planner.cpp:147(DWAPlanner::DWAPlanner)] Sim period is set to 0.10 ( a different value that what is in yaml) Recovery behavior will clear layer obstacles (showed up twice) Setting goal: Frame:map, Position(0.545, -0.393, 0.000), Orientation(0.000, 0.000, -0.020, 1.000) = Angle: -0.040 in dwa_planner_ros.cpp:150 (DWAPlannerROS::setPlan) Got new plan in dwa_planner_ros.cpp 386(DWAPlannerROS::computeVelocityCommands) DWA planner failed to produce path. (these 2 repeat in an area with 1 meter clear all around) buffer_core.cpp:126 Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty it starts recovery and the position spirals in rviz.

Asked by ed on 2019-11-27 19:54:35 UTC

I also saw Parameter max_trans_vel is deprecated (and will not load properly). Use max_vel_trans instead. when my yaml had max_vel_trans not max_trans_vel

Asked by ed on 2019-11-27 20:40:14 UTC