Error in move base : Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors"

asked 2016-09-07 02:17:49 -0500

channa gravatar image

I have created my navigating tracked mobile robot. When i give a simple goal to the robot in RVIZ path planning was done successfully. But the robot did not move. Instead of moving the error message was prompted after few seconds as Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors". Can anyone give me a proper solution for this. In here i have attached all parameter files, rqt graph of active topics and some screenshots in RVIZ.

local_costmap_params.ymail

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 1.0
  height: 1.0
  resolution: 0.05
  transform_tolerance: 0.5

  plugins:
   - {name: obstacles,  type: "costmap_2d::VoxelLayer"}
   - {name: inflater,   type: "costmap_2d::InflationLayer"}

global_costmap_params.yaml

global_costmap:
   global_frame: /map
   robot_base_frame: base_link
   update_frequency: 1.0
   publish_frequency: 0.5
   static_map: true
   transform_tolerance: 0.5

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]]
#robot_radius: 0.22545
robot_radius: 0.4002


#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns

inflation_layer:
  enabled:              true
  cost_scaling_factor:  10.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.30 # max. distance from an obstacle at which costs are incurred for planning paths.

obstacle_layer:
  enabled:              true
  min_obstacle_height:  0.0
  max_obstacle_height:  0.6
  origin_z:             0.0
  z_resolution:         0.2

  z_voxels:             2
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  true    #true needed for disabling global path planning through unknown space
  obstacle_range: 2.5
  raytrace_range: 3.0

observation_sources: laser_scan_sensor 

laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}

dwa_local_planner_params.yaml

DWAPlannerROS:

# Robot Configuration Parameters - Kobuki
  max_vel_x: 0.55  # 0.55
  min_vel_x: 0.0 

  max_vel_y: 0.4  # diff drive robot
  min_vel_y: 0.0  # diff drive robot

  max_trans_vel: 0.38 # choose slightly less than the base's capability
  min_trans_vel: 0.10  # this is the min trans velocity when there is negligible rotational velocity
  trans_stopped_vel: 0.1

  # Warning!
  #   do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
  #   are non-negligible and small in place rotational velocities will be created.

  #max_rot_vel: 5.0  # choose slightly less than the base's capability
  max_rot_vel: 2.0 # Very slow for exploration!
  min_rot_vel: 0.4  # this is the min angular velocity when there is negligible translational velocity
  rot_stopped_vel: 0.4

  acc_lim_x: 0.5 # maximum is theoretically 2.0, but we 

  acc_lim_theta: 2.0
  acc_lim_y: 0.0      # diff drive robot

# Goal Tolerance Parameters
  yaw_goal_tolerance: 0.1  # 0.05
  xy_goal_tolerance: 0.15  # 0.10
  # latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.0       # 1.7
  vx_samples: 6       # 3

  vy_samples: 1       # diff drive robot, there is only one sample
  vtheta_samples: 20  # 20

# Trajectory Scoring Parameters
  path_distance_bias: 32.0      # 32.0   - weighting for how much it should stick to the global path plan
  goal_distance_bias: 24.0      # 24.0   - wighting for how much it should attempt to reach its goal
  occdist_scale: 0.50           # 0.01   - weighting for how much ...
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Comments

did you find a solution?

SH_Developer gravatar imageSH_Developer ( 2017-05-29 09:47:41 -0500 )edit