Tuning the navigation stack for use with a trailer

asked 2019-12-01 23:38:28 -0600

Omegastick gravatar image

I have a robot that can move holonomically, that will pull a trailer (that can only move non-holonomically) around.

I figured it might be possible to tune the navigation stack to handle it. Perhaps dwa_local_planner could be used to restrict the possible combinations of velocities to those that a robot with a trailer is capable of following. Looking at the parameters for dwa_local_planner though, I don't see a way to say "you can only move rotate if you're also moving forward at the same time".

What is the best way to tackle this in ROS?

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If your robot moves holonomically it can move non-holonomically so why not simply configure the navigation stack for a non-holonomic robot ?

Delb gravatar image Delb  ( 2019-12-02 02:59:32 -0600 )edit

@Delb Because AFAIK all the non-holonomic planners assume you can either turn on the spot or reverse. Neither of which can be done with the trailer on this robot.

Omegastick gravatar image Omegastick  ( 2019-12-02 19:10:57 -0600 )edit

In-place rotations and backwards movement (I'm not entirely sure about the backwards movements) are related to the recovery behaviors, have you tried to disable those ? There is the parameter recovery_behavior_enabled to disable everything or simply clearing_rotation_allowed.

Delb gravatar image Delb  ( 2019-12-03 02:56:18 -0600 )edit

How about switching the planner to e.g. teb_local_planner?

Humpelstilzchen gravatar image Humpelstilzchen  ( 2019-12-03 04:07:40 -0600 )edit

@Humpelstilzchen Yeah, that's what I'm going to try next. The car-like mode in that is designed for vehicles that can reverse, but if I set the minimum velocity to 0 it might be okay.

Omegastick gravatar image Omegastick  ( 2019-12-04 00:04:23 -0600 )edit

I tried teb_local_planner, but it doesn't look like there's a way to prevent reversing while in "car-like" mode. I'm gonna try altering dwa_local_planner to remove the "stop and turn" and reverse functions.

Omegastick gravatar image Omegastick  ( 2019-12-05 03:14:53 -0600 )edit