move_base stopping intermittently

asked 2019-10-29 19:03:16 -0600

PG_GrantDare gravatar image

Hi,

I am using the ros navigation stack for navigation of a real robot. I am getting an error where the robot will start driving to the goal and then stop, then continue, then stop, etc... Is there a way for me to smooth this response?

DWA params DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 1.0 
  min_vel_x: 0.2 

  max_vel_y: 0.0  # diff drive robot
  min_vel_y: 0.0  # diff drive robot

  max_trans_vel: 1.0
  min_trans_vel: 0.2

  max_rot_vel: 0.6 # 1.0
  min_rot_vel: -0.6  # could set this lower


  acc_lim_x: 1.0
  acc_lim_th: 1.0 # 1.0 
  acc_lim_y:  0.0     # diff drive robot


# Goal Tolerance Parameters
  yaw_goal_tolerance: 6.283185307  # 0.05
  xy_goal_tolerance: 0.1  # 0.10
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.0       # 1.7
  sim_granularity: 0.025
  vx_samples: 20       # 3
  vy_samples: 1       # diff drive robot
  vth_samples: 20  # 20
  controller_frequency: 20

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 20.0
  occdist_scale: 0.01
  forward_point_distance: 0.5
  stop_time_buffer: 0.2
  scaling_speed: 0.7
  max_scaling_factor: 0.2
  publish_cost_grid: true

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.4  # 0.05   - how far to travel before resetting oscillation flags

# Global Plan Parameters
  prune_plan: true

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
  global_frame_id: map

# Differential-drive robot configuration - necessary?
  holonomic_robot: false

move_base params

shutdown_costmaps: false

controller_frequency: 20.0
controller_patience: 15.0

planner_frequency: 20.0
planner_patience: 5.0

oscillation_timeout: 0.0
oscillation_distance: 0.5

recovery_behavior_enabled: true
clearing_rotation_allowed: true

launch

<node pkg="move_base" type="move_base" respawn="false" name="move_base">

    <rosparam file="$(find navigation)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find navigation)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find navigation)/params/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation)/params/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation)/params/base_local_planner_params.yaml" command="load" />

    <rosparam file="$(find navigation)/params/move_base_params.yaml" command="load" />

    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>

    <remap from="odom" to="/odometry/filtered_map" />
    <remap from="cmd_vel" to="/nav_vel" />

</node>
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Comments

Hello, I have the same issue so if you found any clue on what was happening I would like to hear about it :)

Alrevan gravatar imageAlrevan ( 2019-11-13 09:16:23 -0600 )edit