dwa_planner strange behavior (video)

asked 2019-07-27 03:41:14 -0500

roskicker gravatar image

I'm trying to connect dwa_planner and understand if I don't understand some concepts. Problem is that dwa_planner builds path line good - but instead of going according to it, it drifts and rotates and does everyting it can to NOT achieve the goal. The video is here: link text If someone knows what may be the problem that lies in this behavior - please explain me. All the costmap params and dwa ones are here.

My costmap_common_params.yaml

obstacle_range: 3.0
raytrace_range: 3.5

footprint: [[-0.5, -0.25], [-0.5, 0.25], [0.5, 0.25], [0.5, -0.25]]
footprint_padding: 0.05

inflation_radius: 1.0
cost_scaling_factor: 1.2

map_type: costmap
observation_sources: scan
scan: {sensor_frame: lidar, data_type: LaserScan, topic: scan, marking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
      global_frame: map
      robot_base_frame: base_link 
      update_frequency: 10.0
      publish_frequency: 10.0
      transform_tolerance: 0.6 
      static_map: false
      rolling_window: true
      width: 20.0
      height: 20.0

local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link 
  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.6

  static_map: false  
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.05

And finally my params for the dwa

DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.4
  min_vel_x: -0.1

  max_vel_y: 0.0
  min_vel_y: 0.0

# The velocity when robot is moving in a straight line
  max_vel_trans:  0.4
  min_vel_trans:  0.3

  max_vel_theta: 0.2
  min_vel_theta: 0.1

  acc_lim_x: 1.0
  acc_lim_y: 0.0
  acc_lim_theta: 0.8

# Goal Tolerance Parametes
  xy_goal_tolerance: 0.05
  yaw_goal_tolerance: 0.4
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.7
  vx_samples: 20
  vy_samples: 0
  vth_samples: 10
  controller_frequency: 8.0

# Trajectory Scoring Parameters
  path_distance_bias: 30
  goal_distance_bias: 20.0
  occdist_scale: 0.02
  forward_point_distance: 0.4
  stop_time_buffer: 0.2
  scaling_speed: 1
  max_scaling_factor: 1.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
  holonomic_robot: false

move_base_params.yaml

base_local_planner: dwa_local_planner/DWAPlannerROS

shutdown_costmaps: true
controller_frequency: 6.0
planner_patience: 5.0
controller_patience: 15.0
conservative_reset_dist: 3.0
planner_frequency: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
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