Teb Local Planner : Increasing x linear velocity
Hi,
I'm currently using the teb local planner for a tricycle robot and it gives good results but I would like to i Increasing the max_vel_x parameter doesn't seem to change the speed and I am having a hard time with it with all the optimization parameters. Increasing the maximum x linear velocity doesn't change anything and cmd_vel remains around 0.25/0.3 m/s maximum.
I looked a bit at the the teb questions and it seems for example, that putting weight_acc_lim* to 0.0 or changing the footprint model would reduce computation time . When setting weight_acc_lim* to 0.0, the robot is not able to move anymore and the error " trajectory not feasible" appears on every goal I am trying to send.
Here is my current configuration for teb local planner :
TebLocalPlannerROS:
odom_topic: odom map_frame: /odom
# Trajectory
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: 1.5
feasibility_check_no_poses: 5
# Robot
max_vel_x: 0.8
max_vel_x_backwards: 0.2
max_vel_y: 0.0
max_vel_theta: 0.4
acc_lim_x: 0.15
acc_lim_y: 0.0
acc_lim_theta: 0.05
# Carlike robot parameters
min_turning_radius: 0.15 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually)
wheelbase: 0.864 # Wheelbase of our robot
cmd_angle_instead_rotvel: True # stage simulator takes the angle instead of the rotvel as input (twist message)
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "polygon"
radius: 0.2 # for type "circular"
line_start: [0.0, 0.0] # for type "line"
line_end: [0.4, 0.0] # for type "line"
front_offset: 0.2 # for type "two_circles"
front_radius: 0.2 # for type "two_circles"
rear_offset: 0.2 # for type "two_circles"
rear_radius: 0.2 # for type "two_circles"
vertices: [[1.1,0.4],[-0.3,0.4],[-0.3,-0.4],[1.1,-0.4]]
# GoalTolerance
xy_goal_tolerance: 0.2
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: 0.05
weight_max_vel_x: 590
weight_max_vel_theta: 120
weight_acc_lim_x: 370
weight_acc_lim_theta: 200
weight_kinematics_nh: 10000
weight_kinematics_forward_drive: 1000
weight_kinematics_turning_radius: 300
weight_optimaltime: 860
weight_obstacle: 50
weight_dynamic_obstacle: 10 # not in use yet
# Homotopy Class Planner
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
I tried lots of combinations with rqt_recofnigure and this one gives good results except that i seems to block the linear velocity to small values. I would like to rpevent the robot from going backwards and avoid obstacles coming on its way. Is there any parameters changes that could help keep this characteristics while increasing the velocity of the robot.
Thanks !
