Unable to go straight ahead with move_base
Our robot is just turning on itself, whatever we ask it. It is heavy and has an important inertia.
However, the turning direction keeps to be the same. We wonder why it does not go straight ahead.
Here is the launch file:
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS" />
<rosparam file="$(find mv_fiveco)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find mv_fiveco)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find mv_fiveco)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find mv_fiveco)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find mv_fiveco)/param/base_local_planner_params.yaml" command="load" />
</node>
</launch>
Here is base_local_planner_params.yaml
:
controller_frequency: 2.0
TrajectoryPlannerROS:
# Robot Configuration Parameters
max_vel_x: 0.06
min_vel_x: 0.01 # forward
max_vel_theta: 0.02
min_vel_theta: -0.02
min_in_place_vel_theta: 0.01
acc_lim_theta: 0.005
acc_lim_x: 0.01
acc_lim_y: 0.0
holonomic_robot: false
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.3
xy_goal_tolerance: 0.5
latch_xy_goal_tolerance: true
meter_scoring: true
Here is costmap_common_params.yaml
:
footprint: [[-0.65, -0.33], [-0.65, 0.33], [0.65, 0.33], [0.65, -0.33]]
obstacle_range: 1.5
raytrace_range: 2.0
inflation_radius: 0.45
robot_base_frame: base_footprint
width: 20
height: 20
resolution: 0.05
transform_tolerance: 0.8
observation_sources: scan
scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
Here is global_costmap_param.yaml
:
global_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 1.5
publish_frequency: 1.0
static_map: true
transform_tolerance: 1.0
resolution: 0.1
Here is local_costmap_param.yaml
:
local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.5
publish_frequency: 1.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
Here is a bagfile.
Can you view the
/cmd_vel
topic usingrostopic echo /cmd_vel
to find out what commands are being given to the robot. You may need to add update the topic name to match that of your robot.Any particular reason you're using TrajectoryPlannerROS?
/cmd_vel
showed only rotation and translation.