The sbpl_lattice_planner is extending path unnecessarily
Hi, I'm using this fork with its sbpl package, for indigo. And created motion primitive file with genmprim_unicycle.m
( for forward, backward, turn-in-place, forward-turn-arcs) on Matlab.
At the beginning, It computes path very well. But When the robot is near to end, planner is updating path with absurd one. And struggling with a bit left / right movements, here is image:
How can I solve this problem? And Here is its parameters:
SBPLLatticePlanner:
planner_type: "ARAPlanner"
allocated_time: 10.0
initial_epsilon: 2.83
environment_type: "XYThetaLattice"
forward_search: false
primitive_filename: "" # Setting in launch file
force_scratch_limit: 500
nominalvel_mpersecs: 0.4
timetoturn45degsinplace_secs: 0.6
Thank You.
Asked by Orhan on 2016-02-19 10:24:16 UTC
Comments
And Footprint Rectangle is coming late.
Asked by Orhan on 2016-02-19 10:34:41 UTC
It looks like your robot is starting in one orientation, and ending in the opposite orientation somehow. Does it track the path well?
Asked by ahendrix on 2016-02-20 14:16:04 UTC
No,
dwa_local_planner
follows path at the beginning only. I'll increase itspath_distance_bias
. I'll write after this, I'm on mobile now.Asked by Orhan on 2016-02-20 14:45:07 UTC
But global plan is changing fast.
Asked by Orhan on 2016-02-20 14:45:59 UTC
dwa_local_planner cannot follow the backing maneuvers that SBPL generates; it will get confused by them and command the robot to turn or move in the wrong direction. I strong suggest you use a different local planner.
Asked by ahendrix on 2016-02-20 14:54:48 UTC
I can configure
dwa_local_planner
for following path at the beginning, here is why I'm usingdwa_local_planner
.Asked by Orhan on 2016-02-20 15:13:16 UTC
And Thank you sir. What's your best suggestion for global and local planner? Here is my other question for my robot's motion.
Asked by Orhan on 2016-02-20 15:25:17 UTC
I'm not aware of any good local planners for this. This may be a good starting point, but it needs a lot of work.
Asked by ahendrix on 2016-02-21 00:50:35 UTC