dwb_local_planner movements are not smooth
I am using robot_navigation package on Ubuntu 18.04. I have successfully integrated the package however, robot movements are not smooth and it is doing sudden backward motions. I am not sure how to tune the parameters in order to make the robot move smoother and prevent such shaky behaviors. My parameter files as follows:
DWBLocalPlanner:
max_vel_x: 0.8
min_vel_x: -0.2
max_vel_y: 0.0
min_vel_y: 0.0
max_speed_xy: 0.8
min_speed_xy: 0.1
max_vel_theta: 0.5
min_speed_theta: 0.1
acc_lim_x: 0.2
acc_lim_y: 0.0
acc_lim_theta: 0.2
decel_lim_x: -0.4
decel_lim_y: -0.0
decel_lim_theta: -0.2
yaw_goal_tolerance: 0.8
xy_goal_tolerance: 0.4
split_path: true
trajectory_generator_name: dwb_plugins::StandardTrajectoryGenerator
sim_time: 2.0
vx_samples: 15
vy_samples: 1
vtheta_samples: 30
discretize_by_time: false
angular_granularity: 0.15
linear_granularity: 0.3
goal_checker_name: dwb_plugins::SimpleGoalChecker
prune_plan: true
prune_distance: 1.0
critics: [RotateToGoal, ObstacleFootprint, PathAlign, PathDist]
RotateToGoal:
scale: 16.0
ObstacleFootprint:
scale: 0.01
max_scaling_factor: 0.2
scaling_speed: 0.25
sum_scores: false
PathAlign:
scale: 16.0
forward_point_distance: 0.525
PathDist:
scale: 32
publish_cost_grid_pc: true
debug_trajectory_details: false
publish_evaluation: true
publish_global_plan: true
publish_input_params: true
publish_local_plan: true
publish_trajectories: true
publish_transformed_plan: true
marker_lifetime: 0.5
Have you verified that the robot pose is being updated often? That the pose is correct? That the pose changes smoothly as the robot moves? If the pose is jumping around too much, none of the ros planners will work well.
I have tried DWA and it works smooth enough actually. The robot pose seems smooth enough as well and seems to change regularly on Rviz. At least there are no noticeable jumps between poses.
Does this robot have a differential-drive or an omni-drive? What sensors are you using for localization?
it is a differential-drive robot I am using encoders, LiDAR and IMU as sensors. Also AMCL and Robot localization packages for localization.
First, I would allow more deceleration. Then I would use an app like
rqt_plotto simultaneously plot thelinear.xvelocity published on/cmd_vel, and reported on/odom.Does
cmd_velsmoothly ramp up, then back down to 0 near the goal?Does the odom velocity closely track the cmd_vel if you send the robot to a goal that is straight ahead?
I have tried with teleop and odometry goes close to the cmd_vel for published speeds. However, some small jumps happen on odom when move_base starts to publish the speeds. And also I wasn't able to drive the robot straight when DWB was in control since it starts to turn rather than going straight to the goal.
Small brief jumps in odometry velocity are usually ok.
Can you provide a link to the online documentation for this planner's parameters? I want to understand what the difference is between "vel" and "speed" for this planner.
The robot can not move in a straight line unless you allow the theta velocity (yaw) to be 0.
https://github.com/locusrobotics/robo... this is the original repo to DWB local planner but I couldn't see complete explanation of every parameter in here so found this on github and used it as template https://github.com/dfki-ric/mir_robot....