Global planner not smooth behaviour
i'm using the navigation guide: http://kaiyuzheng.me/documents/navgui... But i'm not able to have a smooth global trajectory, seems like that every time try to use the straighter path feasible. Any suggestions ? here are all my parameters:
move base param controller_frequency: 3.0 controller_patience: 15.0 planner_patience: 6.0 planner_frequency: 2.0 conservative_reset_dist: 3.0 recovery_behavior_enabled: false clearing_rotation_allowed: false shutdown_costmaps: false oscillation_timeout: 0.0 oscillation_distance: 0.5
common param
map_type: costmap
transform_tolerance: 0.5
inflaction_layer:
#cost function parameters enable: true inflation_radius: 5.0 cost_scaling_factor: 2.0
obstacles_layer: enable: true #Obstacle param obstacle_range: 5.0 raytrace_range: 6.0
observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: base_scan_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
global_costmap: #static map map_topic: map_fixed
global_frame: /map robot_base_frame: rear_central_link update_frequency: 1.0 publish_frequency: 2.0 #robot footprint footprint: [[-0.6,-0.8],[2.25,-0.8],[2.25,0.8],[-0.6,0.8]] footprint_padding: 0.02 inflation_radius: 5.0 width: 50.0 height: 50.0 static_map: true rolling_window: false
inflation_layer: enable: true inflation_radius: 15.0 cost_scaling_factor: 8.0
obstacles_layer: enable: true
base_global_planner: global_planner/GlobalPlanner
GlobalPlanner: allow_unknown: true defaul_tolerance: 0.5 planner_frequency: 6.0 planner_patience : 5.0 use_dijkstra: false use_grid_path: true use_quadratic: true visualize_potential: true publish_potential: true orientation_mode: 2 orientation_window_size: 1 lethal_cost: 250 neutral_cost: 10 cost_factor: 0.6
plugins: - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer" } - {name: inflation_layer, type: "costmap_2d::InflationLayer" }
local_costmap:
global_frame: map robot_base_frame: rear_central_link update_frequency: 5.0 publish_frequency: 10.0 static_map: false rolling_window: true width: 10.0 height: 10.0 resolution: 0.05
plugins: - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer" } - {name: inflation_layer, type: "costmap_2d::InflationLayer" }
inflation_radius: 0.2
footprint: [[-0.6,-0.8],[2.25,-0.8],[2.25,0.8],[-0.6,0.8]]
footprint_padding: 0.0
inflaction_layer: enable: true inflation_radius: 5.0 cost_scaling_factor: 0.1
base_local_planner: teb_local_planner/TebLocalPlannerROS
TebLocalPlannerROS: odom_topic: /odometry/filtered map_frame: /map robot_base_frame: rear_central_link
controller_frequency: 100.0 controller_patience : 15.0 planner_frequency: 70.0 planner_patience : 5.0 # Trajectory
teb_autosize: True
dt_ref: 0.7
dt_hysteresis: 0.1
global_plan_overwrite_orientation: true
max_global_plan_lookahead_dist: 10
feasibility_check_no_poses: 3
publish_feedback: true
min_samples: 6
exact_arc_length: true
# Robot
max_vel_x: 1 max_vel_x_backwards: 0.2 max_vel_y: 0.0 max_vel_theta: 0.5 acc_lim_x: 0.25 acc_lim_y: 0.0 acc_lim_theta: 0.2 min_turning_radius: 3.3 wheelbase: 1.74 cmd_angle_instead_rotvel: true # set true in ackermann mode footprint_model: type: "polygon" vertices: [ [-0.4, -0.2], [2.05, -0.2], [2.05, 0.15], [-0.4, 0.15] ] # for car like robot the pose [0,0] is located at the rear-axele ( axis of rotation )
# GoalTolerance
xy_goal_tolerance: 0.5 yaw_goal_tolerance: 0.3 free_goal_vel: False meter_scoring: true
# Obstacles
min_obstacle_dist: 1.1 include_costmap_obstacles: True include_dynamic_obstacles: True costmap_obstacles_behind_robot_dist: 6.0 obstacle_poses_affected: 60 costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH" #costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC" #costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH" #costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull" #costmap_converter_plugin: "" # deactivate plugin costmap_converter_spin_thread: True costmap_converter_rate: 10 costmap_converter/CostmapToPolygonsDBSMCCH: cluster_max_distance: 2.0 cluster_min_pts: 5 cluster_max_pts: 10000 convex_hull_min_pt_separation: 0.2
inflation_dist: 0.4 legacy_obstacle_association: false obstacle_association_force_inclusion_factor: 1.5
# Optimization
no_inner_iterations: 10 no_outer_iterations: 8 optimization_activate: True optimization_verbose: False penalty_epsilon: 0.12 weight_max_vel_x: 15 weight_max_vel_y: 1 weight_max_vel_theta: 1 weight_acc_lim_x: 1 weight_acc_lim_y: 1 weight_acc_lim_theta: 1 weight_kinematics_nh: 1000 weight_kinematics_forward_drive: 500 weight_kinematics_turning_radius: 6 weight_optimaltime: 1 weight_obstacle ...
