DWB_local_planner slows down while avoiding obstacles.
Dear all,
While trying to avoid obstacle (dynamic and static) by the DWB_local_planner, the robot slows down to its min_vel_x
.
I believe the problem comes from the way that I have configured the DWB_local_planner parameters (specially that I am not sure about the max_scaling_factor
and scaling_speed
).
Do you have any idea why it behaves like this?
Here you can find my current configuration:
acc_lim_x: 0.5
acc_lim_th: 0.5
# Robot Configuration Parameters
max_vel_x: 1.0
min_vel_x: 0.1
max_trans_vel: 1.0
min_trans_vel: 0.1
max_trans_vel: 1.0
min_trans_vel: 0.0
max_rot_vel: 0.628
min_rot_vel: 0.2
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.15
xy_goal_tolerance: 0.5
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 4.0
sim_granularity: 0.025
vx_samples: 6
vy_samples: 0
vtheta_samples: 30
controller_frequency: 10
#meter_scoring: true
#penalize_negative_x: false
# Trajectory Scoring Parameters
path_distance_bias: 12
goal_distance_bias: 10
occdist_scale: 14.0
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
global_frame_id: map
# Global Plan Parameters
prune_plan: true
The test without inflation
The test with inflation (cost_scaling_factor: 0
)
Thanks a lot,
A) I'm not sure what your diagrams are showing B) What do you think it should do instead?
Thanks David for your comment.
A) In order to indicate that this behavior of the DWB_local_planner is not related to the distance between the footprint and the obstacle.
B) I think the fact that it slows down is logical but I do not understand why the DWB sets the robot's velocity to the
min_vel_x
. The robot is too slow while detecting an obstacle and while avoiding it which leads to a not satisfying behavior.This is why I was wondering if I have done any mistake while configuring the parameters.
Does it get better when you turn down sim_time?
I have tried that but unfortunately I saw no changes.
Can you record the DWBLocalPlanner/evaluation topic and post it here?