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Hi, some suggestions. Its important that the velocitys and acceleration limitis in base_local_planner.yaml are correct. I red that if they are false the planner might exhibit a behaviour thats similar to a "pid" controller, giving you oscillations. Also this settings should be expressed as floats. not 1 but 1.0 values as it otherwise might lead to unwanted typecasting and unprecise calculations. Further more, most planners (Iam not totally sure about the trajecotryplanner, dwa_local_planner seems to be the way to go now) have oscillation settings. If those are not in harmony with the rest of the parameters they might generate this behaviour, what would be tiny corrections are forbidden and grow to big oscillations. Also some planners have Pathdistance Bias and Goaldistance Bias parameters, they define whats more important, staying on the path or reaching the goal. Your video seems to show high path distance bias. Helpfull tuning guide: link text