ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

move_base turns clockwise when counterclockwise would be faster

asked 2016-07-01 18:07:26 -0500

petermitrano gravatar image

In both of the scenarios depicted below, by robot turns clockwise. counterclockwise is obviously much faster. It will however turn counterclockwise if the goal is very close to in front of the robot, around 30deg maybe. Anything past that turns the other way.

I have min_rot_vel set to 0.07, since according to the DWA_local_planner wiki, it's an absolute value.

fails also fails

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-07-20 12:16:38 -0500

petermitrano gravatar image

Apparently this is a consequence of dwa_local_planner and disallowing negative x velocities (driving backwards)?

I'm not posting this as a definitive answer, but simply what someone told me.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2016-07-01 18:07:26 -0500

Seen: 182 times

Last updated: Jul 20 '16