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The robot rotates when he is near the goal

asked 2015-05-03 10:23:47 -0500

nouf gravatar image


I'm using Ubuntu 12.04 and ROS fuerte

I have my custom robot and now I'm reaching navigation stack.

When I send a goal. the global path planner works fine. But when the robot is near to the goal, it always rotate and never reach the goal.

I think I need to tune the parameters but I couldn't reach to the correct combination.

Here is the parameters of the base_local_planner:

  max_vel_x: 0.5
  min_vel_x: -0.5
  max_rotational_vel: 1.0
  min_rotational_vel: 1.0
  min_in_place_rotational_vel: 1.0

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

Any idea?

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3 Answers

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answered 2015-06-09 19:42:23 -0500

David Lu gravatar image

Does it stop rotating if you set yaw_goal_tolerance to 10?

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answered 2015-06-09 13:03:28 -0500

dimkirt gravatar image

updated 2015-06-09 13:48:45 -0500

Check this one it might help you

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answered 2015-05-03 11:12:43 -0500

rnunziata gravatar image

Do you have these set;

  # Goal tolerance parameters in meters (lower means closer and harder/slower to achieve)
  # Check: stay outside footprint
  yaw_goal_tolerance: 0.3
  xy_goal_tolerance:  0.4
  latch_xy_goal_tolerance: false  # do not rotate on finding goal

  # Forward Simulation 
  # Check: minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. 
  sim_time: 10.0                   # The amount of time to forward-simulate trajectories in seconds
  sim_granularity: 0.1             # The step size, in meters, to take between points on a given trajectory
  angular_sim_granularity: 0.2     # The step size, in radians, to take between angular samples on a given trajectory.
  vx_samples: 10                   # The number of samples to use when exploring the x velocity space
  vtheta_samples: 10               # The number of samples to use when exploring the theta velocity space

  # Trajectory Scoring Parameters
  path_distance_bias: .3           # The weighting for how much the controller should stay close to the path it was given
  goal_distance_bias: .3           # The weighting for how much the controller should attempt to reach its local goal,controls speed
  occdist_scale:          1
  forward_point_distance: 1
  meter_scoring:        true    # If true, distances are expressed in meters; otherwise grid cells
  publish_cost_grid:    true 
  prune_plan:           false
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When I used them, it rotates endlessly

nouf gravatar image nouf  ( 2015-05-03 11:54:38 -0500 )edit

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Asked: 2015-05-03 10:23:47 -0500

Seen: 1,273 times

Last updated: Jun 09 '15