move_base constantly replanning ("got new plan")

I'm not sure if this is normal but I never noticed it before. Here's my scenario:

Ros Melodic, Turtlbot3, physical robot, not simulation. All nodes appear to be launching correctly. I provide an initial pose in Rviz and that seems to work fine. But, when I set a navigation goal in Rviz, the robot does not move. Instead in the log I see a fast steady stream of "got new plan" logs. What does that mean? What might be wrong? Thanks!

Asked by pitosalas on 2019-10-23 12:37:44 UTC

Comments

Are you running on all default params? If not, try doing that for the TB3 params file and work back from there if it works.

Asked by stevemacenski on 2019-10-23 12:48:16 UTC

Thanks... Sounds like a good theory! What file exactly are we talking about?

Asked by pitosalas on 2019-10-23 13:49:12 UTC

All of the configurations

Asked by stevemacenski on 2019-10-23 15:16:21 UTC

Answers

If you're using the default turlebot3_navigation package, then that appears to be expected behavior. The developers of this package have chosen to set "planner_frequency" to 5.0 (see https://github.com/ROBOTIS-GIT/turtlebot3/blob/master/turtlebot3_navigation/param/move_base_params.yaml#L3). This means the planner will replan at 5.0hz - which might be OK, or might cause side effects. You could try setting the parameter to 0.0 in order to stop the replanning if it is causing issues (for instance, a major side effect is large-scale oscillation where the planner is oscillating between two vastly different solutions).

Asked by fergs on 2019-10-23 21:52:15 UTC