DWA planner is not able to create path when goal position given

asked 2018-03-28 19:09:11 -0600

notnao gravatar image

We are using ROS Kinetic, and the packages and hardware that come with the Turtlebot3 but on a custom built robot. We changed the urdf robot model and the navigation parameters from the Turtlebot3 to correspond to our robot. We are able to create a map of a hallway using SLAM, but the navigation doesn't work correctly. We can start up the navigation package, estimate the robot's current position in RVIZ, and the local costmap will update. But when we give the robot a goal position to drive to the DWA Planner fails to produce a path. The navigation package tries to run recovery behaviors but ends up aborting eventually. Below is a link to screen shots showing the navigation running in RVIZ, with the local costmap and a goal position given and the navigation output when a goal position is given.

https://imgur.com/a/g6pnP

Below is debug output from the navigation package when the planner tries to find a new path.

[DEBUG] [1522282151.067916910]: Velocity 0.989, 0.000, 0.474 discarded by cost function  1 with cost: -6.000000
[DEBUG] [1522282151.068265373]: Velocity 0.989, 0.000, 0.537 discarded by cost function  1 with cost: -6.000000
[DEBUG] [1522282151.068626570]: Velocity 0.989, 0.000, 0.601 discarded by cost function  1 with cost: -6.000000
[DEBUG] [1522282151.068663645]: Evaluated 252 trajectories, found 0 valid
[DEBUG] [1522282151.069135963]: Cost PointCloud published
[DEBUG] [1522282151.069260516]: The dwa local planner failed to find a valid plan, cost functions discarded all candidates. This can mean there is an obstacle too close to the robot.
[ WARN] [1522282151.069293763]: DWA planner failed to produce path.
[DEBUG] [1522282151.069327006]: The local planner could not find a valid plan.
[DEBUG] [1522282151.069385581]: Full control cycle time: 0.092991332

Below are the navigation parameters.

dwa_local_planner_params.yaml

DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 1.5 #0.7 #1.0 #0.18
  min_vel_x: 0.7 #-1.5 #-0.7 #-1.0 #-0.18

  max_vel_y: 0.0
  min_vel_y: 0.0

  # The velocity when robot is moving in a straight line
  max_trans_vel:  1.0 #1.0 #0.18
  min_trans_vel:  0.65 #0.6  #0.05
  #trans_stopped_vel: 0.55 

  max_rot_vel: 7 #3.5 #3.0 #1.8
  min_rot_vel: 5 #2.1 #0.7
  #rot_stopped_vel: 1.9

  acc_lim_x: 0.6 #2.0 #robot accelerates very slowly because it weighs so much
  acc_lim_theta: 0.3 #2.0
  acc_lim_y: 0.0

# Goal Tolerance Parametes
  yaw_goal_tolerance: 0.15
  xy_goal_tolerance: 0.05

# Forward Simulation Parameters
  sim_time: 15.0 #3.5
  vx_samples: 20
  vy_samples: 0
  vtheta_samples: 40
  #sim_period: 3 #time between each trajectory

# Trajectory Scoring Parameters
  path_distance_bias: 60 #32.0
  goal_distance_bias: 55 #24.0
  occdist_scale: 0.001 #0.04
  forward_point_distance: .5 #0.325
  stop_time_buffer: 0.2
  scaling_speed: 1.0 #0.25
  max_scaling_factor: 1.0 #0.2


# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
 # global_frame_id: odom

base_local_planner_params.yaml

TrajectoryPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 1.5 #1.0 #0.18
  min_vel_x: 0.6 #0.1

  max_vel_theta: 3.0 #1.0
  min_vel_theta ...
(more)
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