base_local_planner does not respect velocity constraints

asked 2014-08-14 08:15:34 -0600

chopchop gravatar image

I have a custom robot with fairly low vel and acc constraints, especially in theta. To be more precise:

max_rotational_vel: 0.1
max_vel_theta: 0.1
max_vel_x: 0.5
min_in_place_vel_theta: 0.05
min_vel_theta: -0.1
min_vel_x: 0

The problem

When I give a goal to the planner, it usually manages to reach it after a while, but on several occasions just start rotating on itself at high speeds.

My setup

My planners are setup so that the local_costmap is always empty (no sensor used to mark it), and my global_costmap is filled in with a static map which is of decent quality (obtained with a Kinect). I've tested the AMCL localization part and it seems ok, it is a bit jumpy at times but it doesn't look correlated to when the robot decides to rotate on itself.

Some data

After debugging, I've noticed that the planner sends /cmd_vel messages that do not respect the constraints I've given it.

I've rebuilt the navigation stack to show more logs, and I pasted the output of a simple run here

On the logs, you'll see sometimes the planner gives me a very high rotational speed command (lines 48 and 87 for example), and for no apparent reason (no recovery behavior triggered)

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I'm having a similar problem. Did you ever figure this out?

Icehawk101 gravatar image Icehawk101  ( 2015-09-18 09:51:09 -0600 )edit

facing same scenario. Still debugging it.

darshb34 gravatar image darshb34  ( 2020-10-20 21:47:05 -0600 )edit