DWA planner failed to produce path.
Hi everybody,
currently, I'm working on AMCL navigation (from Point A to Point B) and for this reason I'm using DWAL_local_planner
. The DWA_local_planner
works well but I'm facing an issue when I put an obstacle in its way (the obstacle is put in its global path before it starts to move). As you see in the following picture,
When the robot recognizes the obstacle, the DWA_local_planner is not able to produce a path as the following error and it stucks.
[ WARN] [1510564078.318379963, 78.707000000]: DWA planner failed to produce path.
[ INFO] [1510564078.615916578,78.890000000]: Got new plan
[ WARN] [1510564078.683191056, 78.923000000]: DWA planner failed to produce path.
[ INFO] [1510564079.038445171, 79.090000000]: Got new plan
[ WARN] [1510564079.051915033, 79.128000000]: DWA planner failed to produce path.
I have changed the local_planner parameters like path_distance_bias, goal_distance_bias, forward_point_distance, etc. in order to have an other behavior from the DWA_local_planner
but I did not achieve.
Do you have any idea why it behaves like this? I would appreciate if you look at this @David Lu. Thanks in advance,
You can find below the navigation parameters
Launch file:
<launch> <master auto="start"/>
<node pkg="topic_tools" type="relay" name="cmd_vel_to_nav_vel_relay" args="/cmd_vel /navigation/velocity" />
<!--- Run move_base -->
<node respawn="false" pkg="move_base" type="move_base" name="move_base" output="screen">
<rosparam file="$(find mule)/conf/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find mule)/conf/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find mule)/conf/local_costmap_params.yaml" command="load" />
<rosparam file="$(find mule)/conf/global_costmap_params.yaml" command="load" />
<rosparam file="$(find mule)/conf/base_local_planner_params_simulation.yaml" command="load" />
<!--Default local planner -->
<!--<param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS" /> -->
<!--<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" /> -->
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<!--<param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" /> -->
<param name="controller_frequency" value="5.0" />
<!--<param name="base_global_planner" value="karto_global_planner/KartoGlobalPathPlanner"/>-->
<param name="base_global_planner" value="global_planner/GlobalPlanner"/>
<!--<param name="base_global_planner" value="sbpl_lattice_planner/SBPLLatticePlanner"/> -->
<param name="SBPLLatticePlanner/primitive_filename" value="$(find mule)/conf/4mob_16.mprim" />
<param name="recovery_behavior_enabled" value="false"/>
<!--<rosparam param="recovery_behaviors"> [ { name: "backup_recovery", type: "backup_recovery_dwa/BackupRecovery" } ] </rosparam> -->
<!--<param name="recovery_behaviors" value="[]"/>-->
<param name="planner_patience" value="5.0"/>
<param name="controller_patience" value="15.0"/>
<param name="shutdown_costmaps" value="true"/>
<param name="oscillation_timeout" value="30.0"/>
<param name="oscillation_distance" value="0.4"/>
<param name="planner_frequency" value="0.0"/>
<param name="max_planning_retries" value="-1"/>
</node>
</launch>
global_costmap:
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 1.0
track_unknown_space: true
static_map: true
transform_tolerance: 0.5
static_layer:
track_unknown_space: true
enabled: true
map_topic: "/map"
inflation_layer:
enabled: true
cost_scaling_factor: 10
inflation_radius: 2.0
track_unknown_space: true
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
Local_cost_map:
local_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 1.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.02
transform_tolerance: 0.5 #0.5
obstacle_layer:
enabled: true
obstacle_range: 5.0
raytrace_range: 4.5
inflation_radius: 0.5
track_unknown_space: true
combination_method: 1
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true,
expected_update_rate: 0.25, obstacle_range: 19.0, raytrace_range: 19.0 ...
Hello, were you able to fix this?