Velocity doesn't increase when using Move Base Navigation
I am using DWAPlanner for local path planning, when i give a goal to my bot either using 2D Nav Goal from rviz or pubishing to move_base_simple.goal topic the robot moves very slowly. Even thought the velocity limits are set to 3m/s in DWAplanner parameters in local_planner.yaml file, the max veloicty that it reaches is 0.5m/s. If I decrease the controller frequency to 1 only then it is able to reach the max velocity.
Also the acceleration limits are high as well, but the robot seems to never use its max acceleration.
I am unsure whats the logic behind it. Does anyone has any idea?
MY local_params.yaml looks like this
recovery_behaviour_enabled: false
DWAPlannerROS:
# acc_lim_x: 1.9
# acc_lim_y: 0
# acc_lim_theta: 0.63
controller_frequency: 20.0
acc_lim_x: 10.0
acc_lim_trans: 10.0
acc_lim_y: 0.0
acc_lim_theta: 2.0
max_vel_x: 3
min_vel_x: 0.0
max_vel_y: 0.0
min_vel_y: 0.0
max_trans_vel: 3
min_trans_vel: 0.1
max_rot_vel: 2.0
min_rot_vel: 0.1
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.1
latch_xy_goal_tolerance: false
sim_time: 2.0
sim_granularity: 0.5
angular_sim_granularity: 0.05
vx_samples: 20
vy_samples: 0
vtheta_samples: 40
penalize_negative_x: true
path_distance_bias: 32.0
goal_distance_bias: 24.0
occdist_scale: 0.2
forward_point_distance: 0.4
stop_time_buffer: 0.2
scaling_speed: 1
max_scaling_factor: 1
oscillation_reset_dist: 1.0
oscillation_reset_angle: 1.0
prune_plan: true
use_dwa: true
do you get warning about missing update loop? try setting min_velocity a bit higher, also add
outside your move_base node and then try.
In the navigation repo I figured out it has something to do with the line 107. My vel is limited by acc*sim_time (10x0.05) as my controller freq is 20Hz.
Yes you got that part right, but sim_time comes from dwa_planner , look at section 2.2.3.
Since I am using dwa sim_period will be considered which is inverse of controller frequency.