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Movebase: robot move backwards when it detects an obstacle

asked 2016-03-29 06:53:38 -0500

DanThe gravatar image

Hi all,

What is the parameter that controls how far backwards the robot goes when it detects an obstacle at close proximity? Is it an issue related to the local planner or a setting in move_base?

Thanks

TrajectoryPlannerROS:
    # Robot Configuration Parameters
    acc_lim_x: 0.35        #was 0.5
    acc_lim_y: 0.35         #was 0.5
    acc_lim_theta: 0.35     #was 0.5
    max_vel_x: 0.35         #was 0.5
    min_vel_x: 0.05
    max_vel_theta: 1.0
    min_in_place_vel_theta: 0.05 #was0.4
    escape_vel: -0.06
    holonomic_robot: false

    # Goal Tolerance Parameters
    xy_goal_tolerance: 0.1 #was 0.3
    yaw_goal_tolerance: 0.1 #was 0.3 lower means harder to achieve
    latch_xy_goal_tolerance: false
    path_distance_bias: 20.0 #default 0.6 - wasn't used - see pdist_scale
    goal_distance_bias: 0.8 #default 0.8 - wasn't used - see gdist_scale

    # Forward Simulation Parameters
    sim_time: 10.0
    sim_granularity: 0.025
    vx_samples: 5
    vtheta_samples: 20
    controller_frequency: 20.0 #has to be the same as in move_base.launch

    # Trajectory Scoring Parameters
    meter_scoring: true
    pdist_scale: 0.8
    gdist_scale: 0.6
    occdist_scale: 0.10 #was 0.01 
    heading_lookahead: 0.325 - was default 
    heading_scoring: false 
    dwa: false
    global_frame_id: odom

    # Oscillation Prevention Parameters
    oscillation_reset_dist: 0.05

<launch> <master auto="start"/>

<arg name="no_static_map" default="false"/>

<arg name="base_global_planner" default="navfn/NavfnROS"/>

<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/>

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/costmap_common_params.yaml" command="load" ns="global_costmap"/> <rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>

<rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/local_costmap_params.yaml" command="load" />

<rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/global_costmap_params.yaml" command="load" />

<rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/base_local_planner_params.yaml" command="load" />

<param name="base_global_planner" value="$(arg base_global_planner)"/>
<param name="base_local_planner" value="$(arg base_local_planner)"/>  
<param name="recovery_behavior_enabled" value="true"/> 
<param name="recovery_behaviour_enabled" value="true"/> 
<param name="clearing_rotation_allowed" value="true"/>
<param name="controller_frequency" value="20.0"/> 
<param name="planner_patience" value="5.0"/>
<param name="planner_frequency" value="0.0"/>
<param name="controller_patience" value="15.0"/>

<!--<param name="oscillation_timeout" value="40"/> -->

<!-- Remap into namespace for cmd_vel_mux switching-->
<remap from="cmd_vel" to="/RosAria/cmd_vel" />

</node> </launch>

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answered 2016-11-21 15:54:24 -0500

Moving backwards is handled by base_local_planner. The speed that the robot backs up at is set by escape_vel parameter.

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Asked: 2016-03-29 06:53:38 -0500

Seen: 510 times

Last updated: Nov 21 '16