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Why dwa planner can't reach the target rotation?

asked 2017-07-27 07:41:16 -0500

Vitor gravatar image

updated 2017-07-28 12:42:28 -0500

I've commanded the robot to go to the green arrow position/rotation, so it went there and started rotating CCW until it got near the upper wall, then it got stuck in that position. The question is why it don't go a bit forward so it can complete the rotation? Which parameters can be changed so that it better behave in situations like that?

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Update: It keeps writing in the logs:

[ INFO] [1501263591.230230037]: Got new plan [ WARN] [1501263591.260831641]: Invalid Trajectory 0.000000, 0.000000, 0.150000, cost: -6.000000 [ WARN] [1501263591.260927725]: Rotation cmd in collision [ INFO] [1501263591.260981225]: Error when rotating.

and after some seconds:

[ERROR] [1501263591.331646239]: Aborting because a valid control could not be found. Even after executing all recovery behaviors

Currently we have recovery_behavior_enabled = true and clearing_rotation_allowed = false

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What's the output at the terminal?

jayess gravatar image jayess  ( 2017-07-28 10:28:57 -0500 )edit

@jayess I've updated the question with console output

Vitor gravatar image Vitor  ( 2017-07-28 12:42:54 -0500 )edit

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answered 2017-07-28 17:18:32 -0500

jayess gravatar image

I believe it's because you have the clearing_rotation_allowed parameter set to false. It won't rotate to clear the cost map and replan, it'll just give up like you're seeing.

From the wiki, the clearing_rotation_allowed parameter

Determines whether or not the robot will attempt an in-place rotation when attempting to clear out space. Note: This parameter is only used when the default recovery behaviors are in use, meaning the user has not set the recovery_behaviors parameter to anything custom.

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I'll try to enable that, but that behavior has given me problems in the past (like colliding with walls). However, I can't understand why it can't finish the move without resorting to the recovery behaviors, as it would be a simple movement to get out of there

Vitor gravatar image Vitor  ( 2017-07-31 08:08:53 -0500 )edit

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Asked: 2017-07-27 07:41:16 -0500

Seen: 824 times

Last updated: Jul 28 '17