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Actually, i wanted to do the reverse :) My robot just stops when a dynamic obstacle is detected along the way. Was wondering how i change the behavior to recompute the plan and move past the obstacle through an alternate route. Which local planner are you using ? I'm using DWA. These are my parameters:

DWAPlannerROS:
  # Robot configuration parameters
  acc_lim_x: 0.1 #1.0 #0.15
  acc_lim_y: 0
  acc_lim_theta: 1.0
  acc_lim_trans: 0.15
  max_vel_x: 2.0
  min_vel_x: 0.001
  max_vel_y: 0
  min_vel_y: 0
  max_vel_trans: 2.0
  min_vel_trans: 0.001
  max_vel_theta: 1.0
  min_vel_theta: 0.0

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.3
  xy_goal_tolerance: 0.1 #0.2
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 4.0
  sim_granularity: 0.02
  vx_samples: 20
  vy_samples: 1
  vth_samples: 50

  # Trajectory scoring parameters
  path_distance_bias: 4.0
  goal_distance_bias: 0.05
  occdist_scale: 3.0
  forward_point_distance: 0
  stop_time_buffer: 0.2
  scaling_speed: 0.25 
  max_scaling_factor: 0.2
  oscillation_reset_dist: 0.25
  publish_traj_pc : true
  publish_cost_grid_pc: true

Actually, i wanted to do the reverse :) My robot just stops when a dynamic obstacle is detected along the way. Was wondering how i change the behavior to recompute the plan and move past the obstacle through an alternate route. Which local planner are you using ? I'm using DWA. These are my parameters:

DWAPlannerROS:
  # Robot configuration parameters
  acc_lim_x: 0.1 #1.0 #0.15
0.1
  acc_lim_y: 0
  acc_lim_theta: 1.0
  acc_lim_trans: 0.15
  max_vel_x: 2.0
  min_vel_x: 0.001
  max_vel_y: 0
  min_vel_y: 0
  max_vel_trans: 2.0
  min_vel_trans: 0.001
  max_vel_theta: 1.0
  min_vel_theta: 0.0

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.3
  xy_goal_tolerance: 0.1 #0.2
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 4.0
  sim_granularity: 0.02
  vx_samples: 20
  vy_samples: 1
  vth_samples: 50

  # Trajectory scoring parameters
  path_distance_bias: 4.0
  goal_distance_bias: 0.05
  occdist_scale: 3.0
  forward_point_distance: 0
  stop_time_buffer: 0.2
  scaling_speed: 0.25 
  max_scaling_factor: 0.2
  oscillation_reset_dist: 0.25
  publish_traj_pc : true
  publish_cost_grid_pc: true