Ask Your Question
0

Can TEB perform rotations-in-place on differential drive bases?

asked 2019-04-29 12:37:05 -0500

jorge gravatar image

I get the following behavior instead:

image description

Mi current (highly customized) TEB configuration:

# Trajectory Configuration Parameters
teb_autosize: true
dt_ref: 0.1                                # default: 0.3; but controller freq / 10 is recommended
dt_hysteresis: 0.01                        # default: 0.1; but dt_ref / 10 is recommended
global_plan_overwrite_orientation: false   # default: true
allow_init_with_backwards_motion: true     # default: false
max_global_plan_lookahead_dist: 0          # default: 3.0; 0 to use costmap size
feasibility_check_no_poses: 50             # default: 4; but this low number prevents TEB to fail when he should

# Robot Configuration Parameters
max_vel_x: 0.8                             # using same values as in ODWA
max_vel_x_backwards: 0.8
max_vel_y: 0.0
max_vel_theta: 0.6  # the angular velocity is also bounded by min_turning_radius in case of a carlike robot (r = v / omega)
acc_lim_x: 0.8
acc_lim_theta: 1.0

min_turning_radius: 0                      # disable car-like robot

footprint_model:
  type: "line"                             # Toru 5.x modeled as a stadium
  line_start: [-0.18705, 0.0]
  line_end: [0.50557, 0.0]

  # type: "two_circles"                    # alternative model with two circles
  front_offset: 0.50557
  front_radius: 0.4                        # set min_obstacle_dist as 0.0
  rear_offset: 0.18705
  rear_radius: 0.4

# Goal Tolerance Parameters
xy_goal_tolerance: 0.1                     # using same values as in ODWA
yaw_goal_tolerance: 0.05
free_goal_vel: false

# Obstacle Parameters
inflation_dist: 1.2                        # same as inflation_layer/inflation_radius
min_obstacle_dist: 0.4                     # half padded footprint's width (Toru 5.x)
include_costmap_obstacles: true
costmap_obstacles_behind_robot_dist: 20.0  # in short +Inf, as we equally navigate backward
obstacle_poses_affected: 100               # TODO: better reduce and change global planner to reduce density!!!   ahhh   no!  depende de dt_ref, creo!
costmap_converter_plugin: "costmap_converter::CostmapToDynamicObstacles"
costmap_converter_spin_thread: true
costmap_converter_rate: 8                  # same as local_costmap/update_frequency

# Optimization Parameters
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: true
optimization_verbose: false
penalty_epsilon: 0.05                      # the default values (0.1) causes oscillation when entering narrow passages, no idea why
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: 0
weight_kinematics_turning_radius: 0
weight_optimaltime: 1
weight_obstacle: 40
min_obstacle_dist: 0.4
weight_inflation: 0.1
weight_dynamic_obstacle: 10 # not in use yet

# Homotopy Class Planner
enable_homotopy_class_planning: false      # hugely drops performance
enable_multithreading: true
simple_exploration: false
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_obst_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: false

# Miscellaneous Parameters
odom_topic: odom
map_frame: map
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2019-04-29 21:30:39 -0500

jinseoi gravatar image

you maybe can try to reduce max_vel_x_backwards and induce weight_kinematics_forward_drive to force robot move forward instead of backward.

edit flag offensive delete link more

Comments

Makes sense, but indeed I have a bi-directional robot that moves both forward and backward, so forbidding backward motion is not an option. But thanks for the suggestion.

jorge gravatar imagejorge ( 2019-05-15 06:31:46 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

3 followers

Stats

Asked: 2019-04-29 12:37:05 -0500

Seen: 60 times

Last updated: Apr 29