[navigation stack] strange angular velocity

edit

Hi all

I follow the navigation tutorials to get the navigation stack with teb_local_planner running on my tricycle robot. The path in Rviz displayed as well. But the robot doesn't follow the path. The cmd_vel is so strange. The angular.z is too large. See the image below. Sorry for my bad english.

Thanks first.

My teb_local_planner config:

TebLocalPlannerROS:

 odom_topic: odom
 map_frame: /map

 # Trajectory

 teb_autosize: True
 dt_ref: 0.3
 dt_hysteresis: 0.1
 global_plan_overwrite_orientation: True


 max_global_plan_lookahead_dist: 5.0

 feasibility_check_no_poses: 5

 # Robot
 cmd_angle_instead_rotvel: True
 max_vel_x: 0.3
 max_vel_x_backwards: 0.3
 max_vel_theta: 0.3

 acc_lim_x: 1.5
 acc_lim_theta: 1.1
 min_turning_radius: 2
 wheelbase: 0
 footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
   type: "line"
   line_start: [-1, 0.0] # for type "line"

   line_end: [1, 0.0] # for type "line"

 # GoalTolerance

 xy_goal_tolerance: 0.3
 yaw_goal_tolerance: 0.1
 free_goal_vel: False

 # Obstacles

 min_obstacle_dist: 0.30

 include_costmap_obstacles: True
 costmap_obstacles_behind_robot_dist: 1
 obstacle_poses_affected: 30
 costmap_converter_plugin: ""
 costmap_converter_spin_thread: True
 costmap_converter_rate: 5

 # Optimization

 no_inner_iterations: 5
 no_outer_iterations: 4

 optimization_activate: True
 optimization_verbose: False
 penalty_epsilon: 0.1
 weight_max_vel_x: 2
 weight_max_vel_theta: 1
 weight_acc_lim_x: 1
 weight_acc_lim_theta: 1
 weight_kinematics_nh: 1000
 weight_kinematics_forward_drive: 1
 weight_kinematics_turning_radius: 1
 weight_optimaltime: 1
 weight_obstacle: 50

 weight_dynamic_obstacle: 10 # not in use yet
 alternative_time_cost: False # not in use yet

 # Homotopy Class Planner

 enable_homotopy_class_planning: False
 enable_multithreading: False
 simple_exploration: False
 max_number_classes: 4

 roadmap_graph_no_samples: 15

 roadmap_graph_area_width: 5
 h_signature_prescaler: 0.5
 h_signature_threshold: 0.1
 obstacle_keypoint_offset: 0.1
 obstacle_heading_threshold: 0.45
 visualize_hc_graph: False

Edit: Many thanks to croesmann.

Oh it's my mistake, I was uploaded my old config file which cannot work. Here is my new one. Because my robot quite big so i set min_turning_radius to 2.5m. I use agular.z and linear.x to calculate tracking velocity and steering angle. I will try with cmd_angle_instead_rotvel set to False. Maybe it's can be solved.

# Robot
 cmd_angle_instead_rotvel: True
 max_vel_x: 0.2
 min_vel_x: 0.05

 max_vel_x_backwards: 0.2
 max_vel_theta: 0.3
# min_vel_theta: -0.3

 acc_lim_x: 0.5
 acc_lim_theta: 0.5
 min_turning_radius: 2.5
 wheelbase: 1.772
 footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
   type: "line"
   line_start: [-0.886, 0.0] # for type "line"
   line_end: [0.886, 0.0] # for type "line"

 # GoalTolerance

 xy_goal_tolerance: 0.3
 yaw_goal_tolerance: 0.2
 free_goal_vel: False

 # Obstacles

 min_obstacle_dist: 0.5
 include_costmap_obstacles: True
 costmap_obstacles_behind_robot_dist: 1
 obstacle_poses_affected: 30
 costmap_converter_plugin: ""
 costmap_converter_spin_thread: True
 costmap_converter_rate: 5

 # Optimization

 no_inner_iterations: 5
 no_outer_iterations: 4
 optimization_activate: True
 optimization_verbose: False
 penalty_epsilon: 0.1
 weight_max_vel_x: 1 #2
 weight_max_vel_theta: 0.5 #1
 weight_acc_lim_x: 0.0 #1
 weight_acc_lim_theta: 0.0 #1
 weight_kinematics_nh: 1000
 weight_kinematics_forward_drive: 1
 weight_kinematics_turning_radius: 1
 weight_optimaltime: 1
 weight_obstacle: 50
 weight_dynamic_obstacle: 10 # not in use yet
 selection_alternative_time_cost: False
# alternative_time_cost: False # not in use yet

 # Homotopy Class Planner

 enable_homotopy_class_planning: True #False
 enable_multithreading: True #False
 simple_exploration: False
 max_number_classes: 4

 roadmap_graph_no_samples: 15
 roadmap_graph_area_width: 5
 h_signature_prescaler: 0.5
 h_signature_threshold: 0.1
 obstacle_keypoint_offset: 0.1
 obstacle_heading_threshold: 0.45
 visualize_hc_graph: False

My robot description