teb_local_planner do not generate local path when there is a Obstacles

asked 2018-12-02 11:27:51 -0600

guochence gravatar image

my robot model is a car-like mode and using ubuntu 14.04+ros indigo. The global planner is based on a "waypoint",which mean the global path will not regenerated even there is a Obstacles.

So, I would like to use Local_planner to avoid Obstacles (local_planner generated a new local path to avoid obstacles and then back to global path ).

when i use teb_local_planner, the teb_local_planner's global path always follow with Global_planner's path .Since my Global_planner's path is fixed, the teb_local_planner's global path also becomed fixed, and the teb_local_planner's local path never can get a new path which can avoid obstacles.

please see the below screenshot. the Blue Line is teb_local_planner's global path (this path is same with my Global path which generated by "waypoints"), while the Red path is teb_local_planner's local path( this path is generated dynamicly). When the obstacles appear after "waypoints" generated global path, the teb_local_planner's will find the obstacles and go backward and upwards but never can pass the obstacles.

How can i just use teb_local_planner to avoid obstacles. In DWA and Traj local planner,there are params which named "path_distance_bias" and "goal_distance_bias" to change the weight of global path, But i did not find the similar params in teb_local_planner.

teb_params.yaml:

TebLocalPlannerROS:

odom_topic: /GTR/odom

# Trajectory

teb_autosize: True

dt_ref: 0.3

dt_hysteresis: 0.1

min_samples: 3

global_plan_overwrite_orientation: True

global_plan_viapoint_sep: -0.1

allow_init_with_backwards_motion: True

max_global_plan_lookahead_dist: 8.0 #default=3

feasibility_check_no_poses: 2

publish_feedback: true #default false using teb_plot.py

# Robot

max_vel_x: 0.5

max_vel_x_backwards: 0.5

max_vel_y: 0.0

max_vel_theta: 1.6

acc_lim_x: 0.2

acc_lim_theta: 0.5

# ****** Carlike robot parameters ****** min_turning_radius: 0.1

wheelbase: 1.5

cmd_angle_instead_rotvel: true # **********************

footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"

type: "line"

line_start: [-2.4, 0.0] # for type "line"

line_end: [2.4, 0.0] # for type "line"

# GoalTolerance

xy_goal_tolerance: 1

yaw_goal_tolerance: 3

free_goal_vel: False

# Obstacles

min_obstacle_dist: 3

include_costmap_obstacles: true

costmap_obstacles_behind_robot_dist: 3.0

obstacle_poses_affected: 30

inflation_dist: 0

obstacle_association_force_inclusion_factor: 1.5

obstacle_association_cutoff_factor: 5

costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull"

costmap_converter_spin_thread: True

costmap_converter_rate: 5

# Optimization

no_inner_iterations: 5

no_outer_iterations: 4

optimization_activate: True

optimization_verbose: False

penalty_epsilon: 0.1

weight_max_vel_x: 2

weight_max_vel_theta: 1

weight_acc_lim_x: 1

weight_acc_lim_theta: 1

weight_kinematics_nh: 1000

weight_kinematics_forward_drive: 1

weight_kinematics_turning_radius: 1

weight_optimaltime: 1

weight_obstacle: 50

weight_viapoint: 1.0

weight_inflation: 0.1

weight_dynamic_obstacle: 10

# Homotopy Class Planner

enable_homotopy_class_planning: True

enable_multithreading: True

simple_exploration: False

max_number_classes: 4

selection_cost_hysteresis: 1.0

selection_obst_cost_scale: 1.0

selection_viapoint_cost_scale: 1.0

selection_alternative_time_cost: False

roadmap_graph_no_samples: 15

roadmap_graph_area_width: 5

h_signature_prescaler: 0.5

h_signature_threshold: 0.1

obstacle_keypoint_offset: 0.1

obstacle_heading_threshold: 0.45

visualize_hc_graph: true

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