How do I make the local planner rotate in place?

asked 2015-08-12 14:40:06 -0600

Sidd
155 ●8 ●14 ●23 http://siddharthsrivatsa.com/

updated 2018-05-05 11:49:39 -0600

How can I get the local planner to turn in place and then head towards a goal instead of moving forward and turning at the same time? I am facing issues when the robot is able to reach a goal but cannot come back to the same point by doing a turn in place and following a similar global plan. The local planner tries to make the robot move forward and turn. But it then comes too close to an obstacle and get stuck.

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Does anyone have a suggestion about this please? It would be really helpful.

DanThe ( 2016-03-17 16:14:27 -0600 )edit

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If you have a comment please post it as a comment; not an answer.

ahendrix ( 2016-03-17 16:26:23 -0600 )edit

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answered 2016-03-17 16:28:17 -0600

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

If your robot gets too close to obstacles, you should figure out why it's doing that; not try to force complicated heuristics on the planner.

You may want to adjust your footprint or the obstacle distance bias in the local planner.

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Thanks for your answer. The problem is not that it is getting too close to obstacles but when working in confined spaces, I would like to prevent the robot from doing large translations when trying to rotate to avoid collisions. Which is the obstacle distance bias parameter for trajectory rollout?

DanThe ( 2016-03-17 16:37:46 -0600 )edit

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Just in case it is helpful to anyone, in the parameters for TrajectoryPlannerROS - setting the occdist_scale parameter to a value higher than the default value, helps to control the turning radius of the robot.

DanThe ( 2016-03-19 08:40:35 -0600 )edit

Indeed. I set occdist to 0.1 (from default 0.05) and the robot preferred to rotate in place longer before moving.

felipeduque ( 2020-05-04 09:29:52 -0600 )edit

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answered 2016-04-07 19:47:38 -0600

pgigioli
354 ●29 ●33 ●38

updated 2016-04-07 19:48:54 -0600

Have you tried allowing the planner to move the robot backwards? I was having a similar problem except even with an in place rotation the robot would get stuck when too close to obstacles. Simply change the min_vel_x param for the dwa_local_planner to a negative value to allow backwards planning.

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How do I make the local planner rotate in place?

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