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move_base constantly replanning ("got new plan")

asked 2019-10-23 12:37:44 -0600

pitosalas gravatar image

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!

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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.

stevemacenski gravatar imagestevemacenski ( 2019-10-23 12:48:16 -0600 )edit

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

pitosalas gravatar imagepitosalas ( 2019-10-23 13:49:12 -0600 )edit

All of the configurations

stevemacenski gravatar imagestevemacenski ( 2019-10-23 15:16:21 -0600 )edit

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answered 2019-10-23 21:52:15 -0600

fergs gravatar image

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/turtle...). 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).

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Asked: 2019-10-23 12:37:44 -0600

Seen: 24 times

Last updated: Oct 23