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teb_local_planner planning low velocity trajectories

asked 2017-07-16 07:39:44 -0600

prince gravatar image

updated 2017-07-18 05:46:36 -0600

Procópio gravatar image

Hi, I am trying to use Teb local planner for my robot. But robot is moving very slow (0.1 to 0.23 m/sec) and with jerky movements. Although robot can easily go upto 1m/sec. I have tried changing value of weights but it had no impact. I have tried changing size (width and lenght) of local cost map from 8 to 20m, but it had no impact. I am using latest download for git for Kinetic version. I have also observed that sometime teb plans local trajectorise through obstacles in case of 20m x 20m size local map. image description

the configuration file for teb is as follows:

 teb_autosize: True
 dt_ref: 0.3
 dt_hysteresis: 0.1
 global_plan_overwrite_orientation: True
 allow_init_with_backwards_motion: False
 max_global_plan_lookahead_dist: 10.0 #increased lookahead from 20 to 30
 feasibility_check_no_poses: 10

 # Robot

 max_vel_x: 1.0
 max_vel_x_backwards: 0.12 #reduced from 0.2
 max_vel_y: 0.0
 max_vel_theta: 0.35
 acc_lim_x: 0.2
 acc_lim_theta: 0.20
 min_turning_radius: 0.0 # diff-drive robot (can turn on place!)

 footprint_model:
   type: "circular"
   radius: 0.35

 # GoalTolerance

 xy_goal_tolerance: 1
 yaw_goal_tolerance: 1.2
 free_goal_vel: true

 # Obstacles

 min_obstacle_dist: 0.1 # This value must also include our robot radius, if footprint_model is set to "point".
 include_costmap_obstacles: True
 costmap_obstacles_behind_robot_dist: 1.0
 obstacle_poses_affected: 10
 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 #5
 weight_max_vel_theta: 1
 weight_acc_lim_x: 1 #1
 weight_acc_lim_theta: 1
 weight_kinematics_nh: 100 #100
 weight_kinematics_forward_drive: 1 #1
 weight_kinematics_turning_radius: 1
 weight_optimaltime: 1
 weight_obstacle: 50
 weight_dynamic_obstacle: 10 # not in use yet
 weight_adapt_factor: 2

costmap_common_params.yaml:

#---(in meters)---
robot_radius: 0.35
footprint_padding: 0.05
    transform_tolerance: 1.5
map_type: costmap
    obstacle_layer:
 enabled: true
# expected_update_rate: 0.05 #enough margin for 50Hz laser
 obstacle_range: 10.0
 raytrace_range: 10.0
 inflation_radius: 0.25
 track_unknown_space: false
 combination_method: 1
 inf_is_valid: true
 observation_sources: laser_scan_sensor
 laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}

inflation_layer:
  enabled:              true
  cost_scaling_factor:  10.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.25  # max. distance from an obstacle at which costs are incurred for planning paths.
    static_layer:
  enabled:              true
  map_topic:            "map"

Local costmap params:

local_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 10.0
  publish_frequency: 1.0
  static_map: false
  rolling_window: true
  width: 8
  height: 8
  resolution: 0.05
  transform_tolerance: 0.5

  plugins:
#   - {name: static_layer,        type: "costmap_2d::StaticLayer"}
   - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}
   - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}

global costmap params:

global_costmap:

  global_frame: map
  robot_base_frame: base_link
  update_frequency: 0.25
  publish_frequency: 0.5
  static_map: true
  rolling_window: false
  height: 50
  width: 50
  transform_tolerance: 0.5
  plugins:
    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,          type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}

movebase launch file

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <remap from="cmd_vel" to="delta_robot/cmd_vel"/>
    <rosparam file="nav/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="nav/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="nav/local_costmap_params.yaml" command="load" />
    <rosparam file="nav/global_costmap_params.yaml" command="load" />

    <param name="base_global_planner" value="global_planner/GlobalPlanner" />
    <param name="planner_frequency" value="1.0" />
    <param name="planner_patience" value="5.0" />

    <rosparam file="nav/teb_local_planner_params.yaml ...
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can you please post an image with only the global planner stuff? like costmaps and plan...

Procópio gravatar imageProcópio ( 2017-07-18 05:44:34 -0600 )edit

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answered 2018-04-30 22:34:36 -0600

This might be too late but try reducing the controller_frequency in move_base.launch file. I was facing the similar problem of jerky motion and reducing the controller frequency to 0.5 solved the issue. Although the robot plans slowly, it does not cause any jerks.

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answered 2017-07-18 05:45:41 -0600

Procópio gravatar image

I am mostly worried of your global planner planning through walls. Try changing its config to this:

  global_frame: map
  robot_base_frame: base_link
  update_frequency: 10
  publish_frequency: 0.5
  static_map: true

  transform_tolerance: 0.5
  plugins:
    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,       type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}
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I actually do not want global plan to change so frequently, as I do not have sufficient compute to support update at 10Hz. I wanted global plan to update at much slowers rate. This did not solve the problem.

prince gravatar imageprince ( 2017-08-01 06:25:42 -0600 )edit

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Asked: 2017-07-16 07:39:44 -0600

Seen: 904 times

Last updated: Jul 18 '17