(Solved) Robot doesn't follow the plan of teb_local planner [closed]

edit

Hi all! I had solved my problem. Just change "enable_homotopy_class_planning" to False and "acc_lim_theta" to 0.15. Maybe this will help someone. Sorry for my bad English.

Hi all! My robot run with teb_local planner. You can see in the video ( https://www.youtube.com/watch?v=IQAa8... ). It keep shaking and can't follow the plan. How can i fix it.

Here are my config:

TebLocalPlannerROS:
 odom_topic: /odom
 map_frame: /map
 teb_autosize: True
 dt_ref: 0.3
 dt_hysteresis: 0.1 #0.1
 global_plan_overwrite_orientation: True
 global_plan_viapoint_sep: 0.5
 max_global_plan_lookahead_dist: 5.0
 feasibility_check_no_poses: 5
 cmd_angle_instead_rotvel: False
 max_vel_x: 0.2
 max_vel_x_backwards: 0.2
 max_vel_theta: 0.5
 acc_lim_x: 0.2
 acc_lim_theta: 0.2
 min_turning_radius: 2.0

 footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
   type: "line"
   line_start: [0.0, 0.0] 
   line_end: [1.772, 0.0] 
 xy_goal_tolerance: 0.5
 yaw_goal_tolerance: 0.3
 free_goal_vel: False

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

 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: 0.0

 weight_acc_lim_theta: 0.0 #0.0
 weight_kinematics_nh: 1000
 weight_kinematics_forward_drive: 1
 weight_kinematics_turning_radius: 1 #1
 weight_optimaltime: 1
 weight_obstacle: 50 #100
 weight_dynamic_obstacle: 10 # not in use yet

 enable_homotopy_class_planning:  True
 enable_multithreading: True
 simple_exploration: False
 max_number_classes: 4
 selection_cost_hysteresis: 1.0

 selection_obst_cost_scale: 1.0
 selection_alternative_time_cost: False
 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

move_base:

shutdown_costmaps: false
controller_frequency: 10.0 
controller_patience: 15.0
planner_frequency: 3.0
planner_patience: 5.0
oscillation_timeout: 2.0
oscillation_distance: 0.2
conservative_reset_dist: 3.0 
recovery_behavior_enabled: true
clearing_rotation_allowed: true

cost_map:

footprint: [[2.3,0.5], [2.3, -0.5],[-0.2, -0.5], [-0.2,0.5]] # non-circular robot 
transform_tolerance: 0.2
map_type: costmap

obstacle_layer:
  enabled: true
  obstacle_range: 2.5
  raytrace_range: 3.0 
  inflation_radius: 1.5
  track_unknown_space: true
  combination_method: 1
  observation_sources: scan
  scan: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
  enabled:              true
  cost_scaling_factor:  10.0
  inflation_radius:     0.5
static_layer:
  enabled:              true
  map_topic:            "/map"

global_cost map

global_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 5.0 
  publish_frequency: 2.0 
  static_map: true
  rolloing_window: false
  transform_tolerance: 0.5
  plugins:
    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}

local_cost map

local_costmap:
  global_frame: /odom #/map
  robot_base_frame: /base_link
  update_frequency: 5.0 
  publish_frequency: 2.0 
  static_map: false
  rolling_window: true
  width: 10.0
  height: 8.0
  resolution: 0.1
  transform_tolerance: 0.5 #1 #0.5
  plugins:
   - {name: static_layer,        type: "costmap_2d::StaticLayer"}
   - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}

Many thanks!