Move_base Parameters and lag in rviz [closed]

asked 2016-04-06 12:18:46 -0600

Wagner2x gravatar image

We are having an interesting problem with move_base interconnecting with our system. We are using RTABMAP and Robot_Localization (Stereo vision camera, IMU, 2d Lidar) to perceive where we are in space and to tell us where obstacles are around us. RTABMAP and RL are working well together when we don't run the move base node (We have move base running on a Nvidia Jetson TX1, RTABMAP running on a separate computer, and all the sensor nodes running on a little odroid). Meaning that when ever we take the sensor information then look at it with Rviz everything works fine with no real errors in localization and mapping. However wen we run Move_base and give the robot a 2d Navgoal it seems to drop updates to rviz while the robot is moving and tends to overshoot its goal then try to correct itself whilst moving around like crazy. It keeps overshooting then trying to correct then overshooting again.

Move_base isn't throwing any errors however this behavior is very strange. Any help will be greatly appreciated. I will attach our param files to see if there is something in there you see. Let me know if you need anything else.

base_local_planner.yaml

DWAPlannerROS:
#
# Robot Configuration Parameters
#
  acc_lim_x: 0.5 # The x acceleration limit of the robot in meters/sec^2
  acc_lim_y: 0 # The y acceleration limit of the robot in meters/sec^2
  acc_lim_th: 1.5 # The rotational acceleration limit of the robot in radians/sec^2

  max_trans_vel: 0.25 # The absolute value of the maximum translational velocity for the robot in m/s
  min_trans_vel: 0.0 # The absolute value of the minimum translational velocity for the robot in m/s

  max_vel_x: 0.25 # The maximum x velocity for the robot in m/s.
  min_vel_x: -0.25 # The minimum x velocity for the robot in m/s, negative for backwards motion.

  max_vel_y: 0.0 # The maximum y velocity for the robot in m/s
  min_vel_y: 0.0 # The minimum y velocity for the robot in m/s

  max_rot_vel: 2.0 # The absolute value of the maximum rotational velocity for the robot in rad/s
  min_rot_vel: 0.5 # The absolute value of the minimum rotational velocity for the robot in rad/s

# WARNING:
# These parameters may only be for TrajectoryPlannerROS... they may not work for DWAPlannerROS..
  max_vel_theta: 2.0 # The maximum rotational velocity allowed for the base in radians/sec
  min_vel_theta: -2.0 # The minimum rotational velocity allowed for the base in radians/sec
  min_in_place_vel_theta: 0.6 # The minimum rotational velocity allowed for the base while performing in-place rotations in radians/sec
  holonomic_robot: false # Determines whether velocity commands are generated for a holonomic or non-holonomic robot.


#
# Goal Tolerance Parameters
#
  yaw_goal_tolerance: 0.20 # (11 degrees) The tolerance in radians for the controller in yaw/rotation when achieving its goal
  xy_goal_tolerance: 0.30 # (30cm) The tolerance in meters for the controller in the x & y distance when achieving a goal
  latch_xy_goal_tolerance: false #If goal tolerance is latched, if the robot ever reaches the ...
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Closed for the following reason question is not relevant or outdated by Tom Moore
close date 2020-01-24 04:19:03.270314

Comments

Have you tried profiling your CPU usage?

Tom Moore gravatar imageTom Moore ( 2016-05-09 19:50:06 -0600 )edit

Did you ever solve this?

Tom Moore gravatar imageTom Moore ( 2017-07-20 04:16:27 -0600 )edit