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 | 1 | initial version |
Do you see any sort of warning messages whenever the robot is moving towards a goal? If the answer to this question is yes, and the warnings are related with the control loops of the costmaps' planning, you could try to take a look into the these parameters. More specifically, the rate parameters of both your global and local cost maps. If these are too high, specially the local, the behavior you described could be justified.
Other parameters worth checking are the width, height and resolution of the aforementioned cost maps. Once more, if these are either too high (width and height) or to low (resolution), behaviors like the ones you described could be observed.
Keep in mind that in most cases global cost maps with high resolutions are not ideal since these will only be used to calculate a rough path to the target pose. This means that usually you should prefer to have bigger maps with lower resolution as your global, and smaller maps with higher resolution as your local, since the latter is the one that is actually used to execute the fine trajectory.
| | 2 | No.2 Revision |
Do As @miura suggested you could start by looking into the planner_frequency parameter, although if this does not help you could try to look a bit further. For example, do you see any sort of warning messages whenever the robot is moving towards a goal? If the answer to this question is yes, and the warnings are related with the control loops of the costmaps' planning, you could try to take a look into the these parameters. More specifically, the rate parameters of both your global and local cost maps. If these are too high, specially the local, the behavior you described could be justified.
Other parameters worth checking are the width, height and resolution of the aforementioned cost maps. Once more, if these are either too high (width and height) or to low (resolution), behaviors like the ones you described could be observed.
Keep in mind that in most cases global cost maps with high resolutions are not ideal since these will only be used to calculate a rough path to the target pose. This means that usually you should prefer to have bigger maps with lower resolution as your global, and smaller maps with higher resolution as your local, since the latter is the one that is actually used to execute the fine trajectory.
| | 3 | No.3 Revision |
As @miura suggested you could start by looking into the planner_frequency parameter, although if this does not help you could try to look a bit further.
For example, do you see any sort of warning messages whenever the robot is moving towards a goal? If the answer to this question is yes, and the warnings are related with the control loops of the costmaps' planning, you could try to take a look into the these parameters. More specifically, the rate parameters of both your global and local cost maps. If these are too high, specially the local, the behavior you described could be justified.
Other parameters worth checking are the width, height and resolution of the aforementioned cost maps. Once more, if these are either too high (width and height) or to low (resolution), behaviors like the ones you described could be observed.
Keep in mind that in most cases global cost maps with high resolutions are not ideal since these will only be used to calculate a rough path to the target pose. This means that usually you should prefer to have bigger maps with lower resolution as your global, and smaller maps with higher resolution as your local, since the latter is the one that is actually used to execute the fine trajectory.
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