Nav2 DWB: Increasing sim_time lowers max attainable velocity
I've been using the Nav2 stack with the DWB controller in Ubuntu 22.04 with ROS2 Humble. However, when I try and get a longer local planner look-ahead horizon by increasing the DWB controller's sim_time parameter, I notice that I get a decrease in the maximum speed that my robot can attain (e.g. If sim_time = 1.7, my robot can reach speeds up to 1.2 m/s. However, if I set sim_time = 2.0, then it can only reach speeds up to 0.9 m/s).
Looking at the Nav2 DWB documentation here, I don't see any warning about a maximum speed decrease when increasing sim_time. As such, I wanted to ask if anyone else has seen this behavior, and if there is another parameter I need to change in tandem with the sim_time parameter in order to prevent the robot's max speed from decreasing. Still trying to figure out if this is a bug with the DWB controller, or if there is something on my end that is causing the issue. Any help would be appreciated, thanks.
