ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Thu, 30 Nov 2017 17:05:09 -0600TEB_local_planner oscillates when strafing onlyhttps://answers.ros.org/question/277033/teb_local_planner-oscillates-when-strafing-only/ Hi all!
I have a holonomic robot and use TEB local planner which works fine in general, but the last bit still resist all my tuning efforts:
When the bot is strafing only, i.e. the bot looks along the x-axis and moves along the y-axis, it starts oscillating when getting closer to the goal. This does not happen when the goal is in forward direction, it happens only when moving sidewards and the goal direction is orthogonal to the path.
I tuned a lot, but this behaviour seems to be independent of parameters and the underlying local costmap, it happens on completely free space as well.
Any tipps where I could dig in?
For completeness, my parameters are:
base_local_costmap.yaml
TrajectoryPlannerROS:
holonomic_robot: true
min_in_place_vel_theta: 0.0
y_vels: [-0.1, -0.01, 0.01, 0.1 ]
max_vel_theta: 0.3
min_vel_theta: -0.3
escape_vel: -0.100
max_vel_x: 0.100
min_vel_x: -0.100
max_vel_y: 0.100
min_vel_y: -0.100
acc_lim_theta: 0.05
acc_lim_x: 0.05
acc_lim_y: 0.05
controller_frequency: 5
clearing_rotation_allowed: false
recovery_behaviors: [{name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]
teb_local_planer.yaml:
odom_topic: /odom
map_frame: /map
global_plan_overwrite_orientation: False
max_global_plan_lookahead_dist: 10.0
costmap_obstacles_behind_robot_dist: 3.0
feasibility_check_no_poses: 10
max_vel_x: 0.100
max_vel_x_backwards: 0.100
max_vel_y: 0.100
max_vel_y_backwards: 0.100
max_vel_theta: 0.3
min_vel_theta: -0.3
acc_lim_x: 0.05
acc_lim_y: 0.05
acc_lim_theta: 0.05
min_in_place_vel_theta: 0.3
footprint_model:
type: point
xy_goal_tolerance: 0.02
yaw_goal_tolerance: 0.1
min_obstacle_dist: 0.30
inflation_dist: 0.50
include_costmap_obstacles: True
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.03
exact_arc_length: true
weight_acc_lim_x: 3.0
weight_acc_lim_theta: 3.0
weight_kinematics_nh: 1.0
more osscilations
weight_kinematics_forward_drive: 0.0
weight_kinematics_turning_radius: 0.0
enable_homotopy_class_planning: True
Thu, 30 Nov 2017 17:05:09 -0600https://answers.ros.org/question/277033/teb_local_planner-oscillates-when-strafing-only/