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The issue might be related to your robot parameters.

cmd_angle_instead_rotvel: True indicates that your robot is commanded with a Twist Msg but the angular velocity is substituted by the steering angle. Is that what your robot base driver accepts as control input?

Since the previous parameter is set to true, the robot's wheelbase is required in order to convert the linear and angular velocity to the steering angle. But according to your parameter setting, it is wheelbase: 0which cannot work.

Another possible reason for oscillating behavior is the existence of large delays in the control architecture (due the time-optimal controller style the controller choses maximum velocities in order to correct even small errors). Also the planner expects high steering rates. Limiting steering rates as well is still experimental and is going to be added to the main branch as soon as it seems to be stable.

Note, some further comments on your parameter setting:

  • Your footprint model is defined as a line from (-1,0) to (1,0). Hence I guess you have placed the origin of your robot base_link frame in the center of mass. Actually, the unicycle model (and hence the planner) expects the origin to be located at the center of rotation, which is for a front-steered car-like robot at the center of the rear axle.

  • A minimum turning radius of 2m is quite large. Maybe the default parameter set (optimization weights, ...) are not perfect for that setting. You might investigate them.