dwa_local_planner

edit

Hello.
The move_base don't create the shortest distance path.
I need help. please advise me.

My setting is below.
My PC is Unbuntu 16.04 , Ros Kinetic.
My robot is turtlebot3 waffle ,
I use turtlebot3 navigation reference source code .
-> https://github.com/ROBOTIS-GIT/turtle... .
I use launch command to run move_base node .
-> roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

By the way, if I set the goal position , Sometimes the robot moves to the Goal as shown in Figure 1.
I want the robot to move the shortest distance path as shown in Figure 2.

Click image to link to YouTube video.
video time line ( 0:00 ~ 0:30) -> actual mobility path , picture 1 ( Control robot by move_base & dwa_local_planner package )
video time line ( 0:30 ~ 0:58) -> desired mobility path , picture 2 (Control robot by turtlebot3_teleop package )

What parameters need to be changed to improve the path?
I will attach the parameter value that I used.

1. dwa_local_planner_params
   https://github.com/ROBOTIS-GIT/turtle... DWAPlannerROS:

Robot Configuration Parameters
max_vel_x: 0.26
min_vel_x: -0.26

max_vel_y: 0.0
min_vel_y: 0.0

// The velocity when robot is moving in a straight line
max_trans_vel: 0.26
min_trans_vel: 0.13

max_rot_vel: 1.82
min_rot_vel: 0.9

acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2

// Goal Tolerance Parametes
xy_goal_tolerance: 0.05
yaw_goal_tolerance: 0.17
latch_xy_goal_tolerance: false

// Forward Simulation Parameters
sim_time: 2.0
vx_samples: 20
vy_samples: 0
vtheta_samples: 40
controller_frequency: 10.0

// Trajectory Scoring Parameters
path_distance_bias: 32.0
goal_distance_bias: 20.0
occdist_scale: 0.02
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2

// Oscillation Prevention Parameters oscillation_reset_dist: 0.05

// Debugging
publish_traj_pc : true
publish_cost_grid_pc: true

1. move_base_params
   -> https://github.com/ROBOTIS-GIT/turtle... shutdown_costmaps: false
   controller_frequency: 10.0
   planner_patience: 5.0
   controller_patience: 15.0
   conservative_reset_dist: 3.0
   planner_frequency: 5.0
   oscillation_timeout: 10.0
   oscillation_distance: 0.2

2. costmap_common_params
   https://github.com/ROBOTIS-GIT/turtle...

3. global_costmap_params
   https://github.com/ROBOTIS-GIT/turtle...

4. local_costmap_params
   https://github.com/ROBOTIS-GIT/turtle...