DWA Planner Issue

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Hello Everyone,

I am trying to use the DWA planner of the navigation stack with a static map of the office floor loaded. The robot is of rectangular shape and uses 4 sonar sensors and a kinect sensor for obstacle detection. When we give a destination on a straight line the robot moves swiftly to its goal, but if i have a turn it goes and hit the edges. In the RVIZ simulator i can see the footprint of the robot going to hit the edges as in the static map but still the robot goes the same path. Ideally as per the tutorial the DWA planner will ensure the footprint is not in touch with the obstacles.

dwa_local_planner.yaml file below

controller_frequency: 1.0
DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 1.0 #0.3  # 0.5
  min_vel_x: 0.1 # 0.0

  max_vel_y: 0.0  # diff drive robot
  min_vel_y: 0.0  # diff drive robot

  max_trans_vel: 1.0
  min_trans_vel: 0.0

  max_rot_vel: 0.5 # 1.0
  min_rot_vel: -0.5  # could set this lower


  acc_lim_x: 1.0
  acc_lim_th: 1.0 # 1.0 
  acc_lim_y:  0.0     # diff drive robot


# Goal Tolerance Parameters
  yaw_goal_tolerance: 0.05  # 0.05
  xy_goal_tolerance: 0.15  # 0.10
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.0       # 1.7
  vx_samples: 20       # 3
  vy_samples: 1       # diff drive robot
  vtheta_samples: 20  # 20
  meter_scoring: true
  penalize_negative_x: false

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05  # 0.05   - how far to travel before resetting oscillation flags

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
  global_frame_id: map


# Differential-drive robot configuration - necessary?
  holonomic_robot: false

Moreover if i give a heading in opposite direction the robot doesnt do a in place rotation even when there is sufficient space.

I would like to attach all the yaml files but dont have sufficient points to load it.

Any response much appreciated.

Including rest of the yaml files

costmap_common_params.yaml

    obstacle_range: 0.5
raytrace_range: 1.0
max_obstacle_height:  1.75
#footprint: [[-0.3,-0.29],[-0.3,0.29],[0.3,0.29],[0.48,0.0], [0.3,-0.29]]
#footprint_radius: 0.5
robot_radius: 0.4
inflation_radius: 0.15

obstacles: laser_scan sonar_scan_1 sonar_scan_2 sonar_scan_3 sonar_scan_4
observation_sources: laser_scan sonar_scan_1 sonar_scan_2 sonar_scan_3 sonar_scan_4


laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true, min_obstacle_height: -0.05, max_obstacle_height: 2.0}
sonar_scan_1: {data_type: LaserScan, topic: sonar_scan_1, marking: true, clearing: true, min_obstacle_height: -1.0 , max_obstacle_height: 2.0}
sonar_scan_2: {data_type: LaserScan, topic: sonar_scan_2, marking: true, clearing: true, min_obstacle_height: -1.0, max_obstacle_height: 2.0}
sonar_scan_3: {data_type: LaserScan, topic: sonar_scan_3, marking: true, clearing: true, min_obstacle_height: -1.0 , max_obstacle_height: 2.0}
sonar_scan_4: {data_type: LaserScan, topic: sonar_scan_4, marking: true, clearing: true, min_obstacle_height: -1.0, max_obstacle_height: 2.0}

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 1.0
  static_map: true
  rolling_window: false
  resolution: 0.05
  map_type: costmap
  transform_tolerance: 0.5

local_costmap_params.yaml

local_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 1.0
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.01
  transform_tolerance: 0.5

  map_type: costmap

move_base.launch

<launch>
  <env name="ROSCONSOLE_CONFIG_FILE"
        value="$(find security_robot_2dnav)/rosconsole.conf"/>

  <master auto="start ...