teb_local_planner not work

edit

Hi,

My pc can run movebase (navfn + dwa) ,(voronoi + dwa)

But when comes to the (navfn + teb_local_planner) on the offline rviz simulation

the behavior of my virtual turtle bot is quite odd,

But I guess the root cause is lack of computational power:

The longest control cycle can reach about 300s with teb O_o

But with dwa_local_planner, my control frequency can reach 100Hz on the same static map.

And I am following the [teb tutorial]...(http://wiki.ros.org/teb_local_planner/Tutorials/Configure%20and%20run%20Robot%20Navigation)

Anyone can help?

Thanks!

Update #1 in 8th April 2016

costmap_common_params.yam:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.215, 0.215], [-0.215, 0.215], [-0.215, -0.215], [0.215, -0.215]]
footprint_inflation: 0.6
# robot_radius: 0.24
inflation_radius: 0.90
max_obstacle_height: 0.6
min_obstacle_height: 0.0
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

local_costmap_params.yaml

   local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 5.0
   publish_frequency: 0.2
   static_map: true
   rolling_window: false
   width: 6.0
   height: 6.0
   resolution: 0.08
   transform_tolerance: 1.0

global_costmap_params.yaml

global_costmap:
   global_frame: /map
   robot_base_frame: /base_footprint
   update_frequency: 1.0
   publish_frequency: 1.0
   static_map: true
   rolling_window: false
   resolution: 0.08
   transform_tolerance: 1.0
   map_type: costmap

feb_local_planner_params.yaml

TebLocalPlannerROS:

 odom_topic: odom
 map_frame: /map # This parameter will be overridden by local_costmap/global_frame 

 # Trajectory

 teb_autosize: True
 dt_ref: 0.3
 dt_hysteresis: 0.1
 global_plan_overwrite_orientation: True

 # Robot

 max_vel_x: 0.4
 max_vel_x_backwards: 0.2
 max_vel_theta: 0.3
 acc_lim_x: 0.5
 acc_lim_theta: 0.5

 # GoalTolerance

 xy_goal_tolerance: 0.2
 yaw_goal_tolerance: 0.1
 free_goal_vel: False

 # Obstacles

 min_obstacle_dist: 0.5
 costmap_emergency_stop_dist: 0.3
 include_costmap_obstacles: True
 costmap_obstacles_front_only: True
 obstacle_poses_affected: 10
 line_obstacle_poses_affected: 25
 polygon_obstacle_poses_affected: 25

 # Optimization

 no_inner_iterations: 5
 no_outer_iterations: 4
 optimization_activate: True
 optimization_verbose: False
 penalty_scale: 0.1
 penalty_epsilon: 0.1
 weight_max_vel_x: 2
 weight_max_vel_theta: 1
 weight_acc_lim_x: 1
 weight_acc_lim_theta: 1
 weight_kinematics_nh: 1000
 weight_kinematics_forward_drive: 1
 weight_optimaltime: 1
 weight_point_obstacle: 50
 weight_line_obstacle: 50
 weight_poly_obstacle: 50

 # Parallel Planning in distinctive Topologies

 enable_homotopy_class_planning: True
 enable_multithreading: True
 simple_exploration: False
 max_number_classes: 5
 roadmap_graph_no_samples: 15
 roadmap_graph_area_width: 6
 h_signature_prescaler: 0.5
 h_signature_threshold: 0.01
 obstacle_keypoint_offset: 0.1
 obstacle_heading_threshold: 0.45
 visualize_hc_graph: False

map.yaml

image: map_corner_v3.pgm
resolution: 0.025000
#or resolution: 0.01000
origin: [-11.000000, -10.000000, 0.000000]
#or origin: [-5.000000, -5.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196