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[Move_base] problem of setting planner

asked 2019-03-15 05:22:43 -0500

KSWang gravatar image

Hi, everyone. I'm trying to use move_base package. However, my robot is not used differential wheels. Its steering and acceleration are actuated by servo motor and DC motor. move_base sent the cmd_vel.linear.x and cmd_vel.angular.z separately. But, my robot need to move and rotate together, like the car. It can't move like the planner's trajectory. I'm wondering how to set the planner.yaml to move as I wish. Appreciated for any suggestion or discussion, thanks.

controller_frequency: 3.0   # freq of update trace planning
recovery_behavior_enabled: true
clearing_rotation_allowed: false

   max_vel_x: 0.5  # miles / seconds
   min_vel_x: 0.1
   max_vel_y: 0.0  # zero for a differential drive robot
   min_vel_y: 0.0
   max_vel_theta: 1.0
   min_vel_theta: 0.4
   # min_in_place_vel_theta 0.4
   escape_vel: -0.1  # backward speed
   acc_lim_x: 1.5  # miles / senconds ^ 2
   acc_lim_y: 0.0  # zero for a differential drive robot
   acc_lim_theta: 0.5

   holonomic_robot: false
   yaw_goal_tolerance: 0.2 # about 6 degrees
   xy_goal_tolerance: 0.2  # 5 cm  # cannot smaller than map's revolution
   latch_xy_goal_tolerance: false
   pdist_scale: 0.4
   gdist_scale: 0.8
   meter_scoring: true

   heading_lookahead: 0.325
   heading_scoring: false
   heading_scoring_timestep: 0.8
   occdist_scale: 0.05
   oscillation_reset_dist: 0.05
   publish_cost_grid_pc: false
   prune_plan: true

   sim_time: 1.0
   sim_granularity: 0.05
   angular_sim_granularity: 0.1
   vx_samples: 8
   vy_samples: 0  # zero for a differential drive robot
   vtheta_samples: 20
   dwa: true
   simple_attractor: false
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any one have some ideas? plz

KSWang gravatar image KSWang  ( 2019-03-15 23:25:15 -0500 )edit

1 Answer

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answered 2019-03-19 03:41:50 -0500

pavel92 gravatar image

That kind of behavior is hard to achieve with the default TrajectoryPlannerROS. You should look into local planners that support car-like movement. For example you can check:
teb_local_planner and tutorials
This question also tackles the problem. More on Ackermann steering can be found here here.

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Asked: 2019-03-15 05:22:43 -0500

Seen: 158 times

Last updated: Mar 19 '19