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DWA planner failed to produce path [closed]

asked 2018-07-25 23:44:21 -0600

AutoCar gravatar image

updated 2018-07-28 22:55:41 -0600

jayess gravatar image

Hi all:

When I run mapless move_base, it always complained "DWA planner failed to produce path". Is there log somewhere I can check why it failed to produch path?

The output is like:

[ INFO] [1532580173.243852203]: Got new plan
[ WARN] [1532580173.245276133]: DWA planner failed to produce path.
[ INFO] [1532580173.443843662]: Got new plan
[ WARN] [1532580173.445304680]: DWA planner failed to produce path.
[ WARN] [1532580173.643893361]: Clearing costmap to unstuck robot (3.000000m).
[ INFO] [1532580174.043834647]: Got new plan
[ WARN] [1532580174.045632208]: DWA planner failed to produce path.
[ WARN] [1532580174.243951804]: Rotate recovery behavior started.
[ERROR] [1532580174.244415898]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ INFO] [1532580174.643841480]: Got new plan
[ WARN] [1532580174.645396002]: DWA planner failed to produce path.
[ WARN] [1532580174.843851086]: Clearing costmap to unstuck robot (1.840000m).
[ INFO] [1532580175.243841053]: Got new plan
[ WARN] [1532580175.245196120]: DWA planner failed to produce path.
[ WARN] [1532580175.443900326]: Rotate recovery behavior started.
[ERROR] [1532580175.444206757]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ INFO] [1532580175.843830584]: Got new plan
[ WARN] [1532580175.845862800]: DWA planner failed to produce path.
[ERROR] [1532580176.043937473]: Aborting because a valid control could not be found. Even after executing all recovery behaviors

However, I can see a green curve from the robot to the goal in rviz.

Here are the parameters:

costmap_common.yaml:

footprint: [[-0.5, -0.33], [-0.5, 0.33], [0.5, 0.33], [0.5, -0.33]]
footprint_padding: 0.01

robot_base_frame: base_link
update_frequency: 4.0
publish_frequency: 3.0
transform_tolerance: 0.3

resolution: 0.1

obstacle_range: 5.5
raytrace_range: 6.0

#layer definitions
static:
    map_topic: /map
    subscribe_to_updates: true

obstacles_laser:
    observation_sources: laser
    laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true}

inflation:
    inflation_radius: 0.1

costmap_local.yaml:

global_frame: odom
rolling_window: true

plugins:
  - {name: obstacles_laser,           type: "costmap_2d::ObstacleLayer"}
  - {name: inflation,                 type: "costmap_2d::InflationLayer"}

Planner.yaml:

controller_frequency: 5.0
recovery_behaviour_enabled: true

NavfnROS:
  allow_unknown: true
  default_tolerance: 0.1

TrajectoryPlannerROS:
  acc_lim_x: 2.5
  acc_lim_theta:  3.2

  max_vel_x: 1.0
  min_vel_x: 0.0

  max_vel_theta: 1.0
  min_vel_theta: -1.0
  min_in_place_vel_theta: 0.2

  holonomic_robot: false
  escape_vel: -0.1

  yaw_goal_tolerance: 0.1
  xy_goal_tolerance: 0.2
  latch_xy_goal_tolerance: false

  sim_time: 2.0
  sim_granularity: 0.02
  angular_sim_granularity: 0.02
  vx_samples: 6
  vtheta_samples: 20
  controller_frequency: 20.0

  meter_scoring: true
  occdist_scale:  0.1
  pdist_scale: 0.75
  gdist_scale: 1.0

  heading_lookahead: 0.325
  heading_scoring: false
  heading_scoring_timestep: 0.8
  dwa: true 
  simple_attractor: false
  publish_cost_grid_pc: true

  oscillation_reset_dist: 0.25
  escape_reset_dist: 0.1
  escape_reset_theta: 0.1

DWAPlannerROS:
  acc_lim_x: 2.5
  acc_lim_y: 0
  acc_lim_th: 3.2

  max_vel_x: 0.5
  min_vel_x: 0.0
  max_vel_y: 0
  min_vel_y: 0

  max_trans_vel: 0.5
  min_trans_vel: 0.1
  max_rot_vel: 1.0
  min_rot_vel: 0.2

  yaw_goal_tolerance: 0.1
  xy_goal_tolerance: 0.2
  latch_xy_goal_tolerance: false

Move_base.launch:

<launch>
  <arg name="no_static_map" default="true"/>

  <arg name="base_global_planner" default="navfn/NavfnROS"/>
  <arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/>
  <arg name="local_costmap_size" default="3.0"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="$(arg base_global_planner)"/>
    <param name="base_local_planner" value ...
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2019-08-19 15:00:37.036218

Comments

There should be log in `~/.ros/log/

destogl gravatar imagedestogl ( 2018-07-26 01:45:15 -0600 )edit

Can you post your param files you're using (local / global costmap settings?). Also the green curve from the robot to the goal in RViz might be the global path.

stevejp gravatar imagestevejp ( 2018-07-26 07:22:23 -0600 )edit

ROS log is at ~/.ros/log, but it did not see anything related DWA planner. Where is the local planner log?

AutoCar gravatar imageAutoCar ( 2018-07-26 23:20:06 -0600 )edit

There are session logs. you have to search inthere

destogl gravatar imagedestogl ( 2018-07-27 05:40:52 -0600 )edit

1 Answer

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answered 2018-07-26 17:24:12 -0600

You need to post your parameters. It is really easy to specify parameters that makes it impossible to generate a path or restrict it so much in alot of cases you can't do it. Tuning DWA can be very painful.

I'd recommend starting with turtlebot default parameters, it's a good starting point for most differential drive robots and then tune from there once you have a starting point.

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Comments

I have edit my original post and added parameters

AutoCar gravatar imageAutoCar ( 2018-07-26 23:08:47 -0600 )edit

Did you try what I suggested starting with the turtlebot params?

stevemacenski gravatar imagestevemacenski ( 2018-07-27 17:25:03 -0600 )edit

No, I did not since I felt husky was more like my car-like robot than the turtlebot. Did you see a particular parameter that was quite different from turtlebot?

AutoCar gravatar imageAutoCar ( 2018-07-27 17:56:11 -0600 )edit

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Asked: 2018-07-25 23:44:21 -0600

Seen: 776 times

Last updated: Jul 28 '18