DWA planner failed to produce path

asked 2016-12-02 21:14:42 -0600

Ziwen Qin gravatar image

I use ubuntu14.04, ros-indigo and kinect2, using move_base to navigate.But the error, DWA planner failed to produce path, aways show me. the parameter yaml of move_base show as follow:

costmap_common_params.yaml

#max_obstacle_height: 0.70  # assume something like an arm is mounted on top of the robot

# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.20  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]]  # if the robot is not circular

#map_type: voxel
map_type: costmap

obstacle_layer:
  enabled:              true
  max_obstacle_height:  0.8
  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
  origin_z: 0.0
  z_resolution: 0.1
  z_voxels: 6
  publish_voxel_map: ture
  observation_sources:  scan bump
  scan:
    data_type: LaserScan
    topic: /scan_kinect
    marking: true
    clearing: true
    min_obstacle_height: 0.0
    max_obstacle_height: 0.8
  bump:
    data_type: PointCloud2
    topic: /hokuyo_points
    marking: true
    clearing: false
    min_obstacle_height: 0.0
    max_obstacle_height: 0.8
  # for debugging only, let's you see the entire voxel grid

#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
  enabled:              true
  cost_scaling_factor:  5.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.1  # max. distance from an obstacle at which costs are incurred for planning paths.

static_layer:
  enabled:              false

dwa_local_planner_params.yaml

DWAPlannerROS:


# Robot Configuration Parameters - Kobuki
  max_vel_x: 0.1  # 0.55  
  min_vel_x: 0.0 

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

  max_trans_vel: 0.5 # choose slightly less than the base's capability
  min_trans_vel: 0.1  # 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: 0.4  # choose slightly less than the base's capability
  min_rot_vel: 0.2  # this is the min angular velocity when there is negligible translational velocity
  rot_stopped_vel: 0.2

  acc_lim_x: 0.2 # maximum is theoretically 2.0, but we 
  acc_lim_theta: 0.1
  acc_lim_y: 0.0      # diff drive robot

# Goal Tolerance Parameters
  yaw_goal_tolerance: 0.3  # 0.05
  xy_goal_tolerance: 0.3  # 0.10
  # latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.7       # 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: 64.0      # 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: 0.5            # 0.01   - weighting for how much the controller should avoid obstacles
  forward_point_distance: 0.325 # 0.325  - how far along to place an additional scoring point
  stop_time_buffer: 0.2         # 0.2    - amount of time a robot must stop in before colliding for a valid traj.
  scaling_speed: 0.25           # 0.25   - absolute velocity at which to start scaling the robot's footprint
  max_scaling_factor: 0.2       # 0.2    - how much to scale the robot ...
(more)
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Comments

Hello, did you find a fix for this ? I have problems too with the dwa local planner. Most times it fails to produce a path, and otherwise it just spins the robot around...

Oddity gravatar imageOddity ( 2017-04-10 21:16:10 -0600 )edit