The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
DWB is just an trajectory planner that scores based on objective functions and their relative importance weights. You may need to heavily tune DWB's objective functions (or critics) for a given application and use or not use some of those critics.
| | 2 | No.2 Revision |
DWB is just an trajectory planner that scores based on objective functions and their relative importance weights. You may need to heavily tune DWB's objective functions (or critics) for a given application and use or not use some of those critics.
For example, you use obstacle footprint and it looks to me like you have set its scale so large that the robot refuses to drive into higher cost areas. It seems to drive out of them fine, but then gets stuck when all of the points on the footprint are out of the high cost areas and then starts to struggle to then make progress.
You can definitely tune yourself into a hole with any of the local trajectory planners, its important to take your time and tune carefully knowing what you're trying to accomplish and making sure each of the critics weights are proportional to how much you care about them relative to each other.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
