DWA planner failed to produce path
Hi all:
When I run mapless move_base, it always complained "DWA planner failed to produce path". Is there log somewhere I can check why it failed to produch path?
The output is like:
[ INFO] [1532580173.243852203]: Got new plan
[ WARN] [1532580173.245276133]: DWA planner failed to produce path.
[ INFO] [1532580173.443843662]: Got new plan
[ WARN] [1532580173.445304680]: DWA planner failed to produce path.
[ WARN] [1532580173.643893361]: Clearing costmap to unstuck robot (3.000000m).
[ INFO] [1532580174.043834647]: Got new plan
[ WARN] [1532580174.045632208]: DWA planner failed to produce path.
[ WARN] [1532580174.243951804]: Rotate recovery behavior started.
[ERROR] [1532580174.244415898]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ INFO] [1532580174.643841480]: Got new plan
[ WARN] [1532580174.645396002]: DWA planner failed to produce path.
[ WARN] [1532580174.843851086]: Clearing costmap to unstuck robot (1.840000m).
[ INFO] [1532580175.243841053]: Got new plan
[ WARN] [1532580175.245196120]: DWA planner failed to produce path.
[ WARN] [1532580175.443900326]: Rotate recovery behavior started.
[ERROR] [1532580175.444206757]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ INFO] [1532580175.843830584]: Got new plan
[ WARN] [1532580175.845862800]: DWA planner failed to produce path.
[ERROR] [1532580176.043937473]: Aborting because a valid control could not be found. Even after executing all recovery behaviors
However, I can see a green curve from the robot to the goal in rviz.
Here are the parameters:
costmap_common.yaml:
footprint: [[-0.5, -0.33], [-0.5, 0.33], [0.5, 0.33], [0.5, -0.33]]
footprint_padding: 0.01
robot_base_frame: base_link
update_frequency: 4.0
publish_frequency: 3.0
transform_tolerance: 0.3
resolution: 0.1
obstacle_range: 5.5
raytrace_range: 6.0
#layer definitions
static:
map_topic: /map
subscribe_to_updates: true
obstacles_laser:
observation_sources: laser
laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true}
inflation:
inflation_radius: 0.1
costmap_local.yaml:
global_frame: odom
rolling_window: true
plugins:
- {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
Planner.yaml:
controller_frequency: 5.0
recovery_behaviour_enabled: true
NavfnROS:
allow_unknown: true
default_tolerance: 0.1
TrajectoryPlannerROS:
acc_lim_x: 2.5
acc_lim_theta: 3.2
max_vel_x: 1.0
min_vel_x: 0.0
max_vel_theta: 1.0
min_vel_theta: -1.0
min_in_place_vel_theta: 0.2
holonomic_robot: false
escape_vel: -0.1
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.2
latch_xy_goal_tolerance: false
sim_time: 2.0
sim_granularity: 0.02
angular_sim_granularity: 0.02
vx_samples: 6
vtheta_samples: 20
controller_frequency: 20.0
meter_scoring: true
occdist_scale: 0.1
pdist_scale: 0.75
gdist_scale: 1.0
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
dwa: true
simple_attractor: false
publish_cost_grid_pc: true
oscillation_reset_dist: 0.25
escape_reset_dist: 0.1
escape_reset_theta: 0.1
DWAPlannerROS:
acc_lim_x: 2.5
acc_lim_y: 0
acc_lim_th: 3.2
max_vel_x: 0.5
min_vel_x: 0.0
max_vel_y: 0
min_vel_y: 0
max_trans_vel: 0.5
min_trans_vel: 0.1
max_rot_vel: 1.0
min_rot_vel: 0.2
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.2
latch_xy_goal_tolerance: false
Move_base.launch:
<launch>
<arg name="no_static_map" default="true"/>
<arg name="base_global_planner" default="navfn/NavfnROS"/>
<arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/>
<arg name="local_costmap_size" default="3.0"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_global_planner" value="$(arg base_global_planner)"/>
<param name="base_local_planner" value="$(arg base_local_planner)"/>
<rosparam file="$(find husky_navigation)/config/planner.yaml" command="load"/>
<rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find husky_navigation)/config/costmap_local.yaml" command="load" ns="local_costmap" />
<param name="local_costmap/width" value="$(arg local_costmap_size)"/>
<param name="local_costmap/height" value="$(arg local_costmap_size)"/>
<rosparam file="$(find husky_navigation)/config/costmap_global_static.yaml" command="load" ns="global_costmap" unless="$(arg no_static_map)"/>
<rosparam file="$(find husky_navigation)/config/costmap_global_laser.yaml" command="load" ns="global_costmap" if="$(arg no_static_map)"/>
<param name="global_costmap/width" value="100.0" if="$(arg no_static_map)"/>
<param name="global_costmap/height" value="100.0" if="$(arg no_static_map)"/>
</node>
</launch>
Asked by AutoCar on 2018-07-25 23:44:21 UTC
Answers
You need to post your parameters. It is really easy to specify parameters that makes it impossible to generate a path or restrict it so much in alot of cases you can't do it. Tuning DWA can be very painful.
I'd recommend starting with turtlebot default parameters, it's a good starting point for most differential drive robots and then tune from there once you have a starting point.
Asked by stevemacenski on 2018-07-26 17:24:12 UTC
Comments
I have edit my original post and added parameters
Asked by AutoCar on 2018-07-26 23:08:47 UTC
Did you try what I suggested starting with the turtlebot params?
Asked by stevemacenski on 2018-07-27 17:25:03 UTC
No, I did not since I felt husky was more like my car-like robot than the turtlebot. Did you see a particular parameter that was quite different from turtlebot?
Asked by AutoCar on 2018-07-27 17:56:11 UTC
Comments
There should be log in `~/.ros/log/
Asked by destogl on 2018-07-26 01:45:15 UTC
Can you post your param files you're using (local / global costmap settings?). Also the green curve from the robot to the goal in RViz might be the global path.
Asked by stevejp on 2018-07-26 07:22:23 UTC
ROS log is at ~/.ros/log, but it did not see anything related DWA planner. Where is the local planner log?
Asked by AutoCar on 2018-07-26 23:20:06 UTC
There are session logs. you have to search inthere
Asked by destogl on 2018-07-27 05:40:52 UTC