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How to tune move_base local planners for frequent goal updates

asked 2017-07-11 06:59:15 -0500

autonomy gravatar image

I am experimenting with a robot which is supposed to follow a beacon outside. The waypoints are sent at 1Hz (I could go faster) and are within 3 to 10 meters of the robot. I tried using move_base with the built-in planners but had unsatisfactory results.

  • DWA planner's motion was good but it made the robot pause at every goal update making for unsmooth motion
  • TrajectoryPlannerRos starts oscillating on straightaways, that type of motion isn't acceptable
  • TebLocalPlanner was a mix of the two, but it did a lot of spinning in place and eventually would cause the map update loop miss its target update rate

I tried to play with oscillation reset flag and other parameters but still did not achieve good results and to be honest, I'm not really sure how most of these work. I am starting to think that these planners weren't meant to be used for what I'm using them for. Is there a better planner for me to use such that I can update it frequently yet still get the benefit of obstacle following? If not, are there parameters I should be tuning that will make path updates faster and smoother? (local map size/resolution? oscillation flag? others?)

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answered 2017-07-17 02:37:42 -0500

Procópio gravatar image

The issue is not with the planners, but with move_base. Check this related question, with lots of info on the matter: link text

ps.: this is a clone from the code from the second answer: https://github.com/awesomebytes/hist_...

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Asked: 2017-07-11 06:59:15 -0500

Seen: 363 times

Last updated: Jul 17 '17