Holonomic planner for navigation

asked 2016-05-26 03:45:49 -0500

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updated 2016-05-26 04:17:30 -0500

Hello !
I want to know how to have a holonomic planner for the navigation of a holonomic or omni-directional robot (KUKA Youbot for example).
The Idea is to be able to move the robot along the y axis without changing its orientation.
I tried to adjust the 'holonomic_robot' value of my planner (dwa planner) to true but the robot continue to not move as I want.

If someone can tell me how to configure my planner in order to do this, I will be very grateful.

lfr

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answered 2016-06-23 04:35:24 -0500

Procópio

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you can try the eband local planner or the teb_local_planner .

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Yes, thanks, I tried the eband_local_planer planner and it works exactly as I want, thank you for your help (I forgot this topic ;) ).

lfr ( 2016-06-23 04:38:10 -0500 )edit

I follow your suggestions to use the eband_local_planner, and I use I default parameters as [ http://wiki.ros.org/eband_local_plann... I have a lot tests, and use rqt_reconfigure tool to config the related parameters, but the omnidirectional robots hardly translate in the y directions.

dong_ym ( 2017-10-27 05:25:32 -0500 )edit

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answered 2016-06-24 01:23:44 -0500

uwleahcim
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Isn't dwa_local_planner designed for holonomic_robot? Also, dwa_local_planner doesn't have holonomic_robot parameter since it is assume for the robot is holonomic (you have parameters for both x and y vel and acceleration).

I think you're working with base_local_planner which has a holonomic_robot parameters. Setting holonomic_robot to true in base_local_planner gives you very limited y controls.

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Yes, I succeeded to use dwa_local_planner for holonomic navigation but this planner has many problems. It has not a good behaviour (difficulties to reach the goal, winding trajectories, endless rotations, ...). The eband_local_planner is much more better for what I want.

lfr ( 2016-06-24 01:58:34 -0500 )edit

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