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move_base: how to move robot smoothly

asked 2019-12-03 00:17:29 -0600

june2473 gravatar image

updated 2019-12-04 04:25:48 -0600

I have turtlebot3 waffle with some additions and I am running move_base.

The problem is that when I send goal to move_base, robot jerks very sharply on all the way to the goal. And therefore odometry become wrong because of imu and slam becomes errorful.

I use default turtlebot3_navigation params. Except for min_vel_x from dwa_local_planner, I set it to 0, because I dont want my robot moving backward.

I tried to set acc_lim_x from dwa_local_planner_params.yaml file lower. but if I set it under 1.0 robot does not move, only rotating sometimes, and I see this messages:

[ INFO] [1575348683.509810130]: Got new plan
[ WARN] [1575348683.512755937]: DWA planner failed to produce path.
[ INFO] [1575348683.609767088]: Got new plan
[ WARN] [1575348683.612340738]: DWA planner failed to produce path.
[ INFO] [1575348683.709804687]: Got new plan
[ WARN] [1575348683.711776387]: DWA planner failed to produce path.
[ INFO] [1575348683.809823309]: Got new plan
[ WARN] [1575348683.812453374]: DWA planner failed to produce path.
[ INFO] [1575348683.910172970]: Got new plan
[ WARN] [1575348683.914018388]: DWA planner failed to produce path.
[ INFO] [1575348684.009715755]: Got new plan
[ WARN] [1575348684.011387298]: DWA planner failed to produce path.
[ INFO] [1575348684.109762026]: Got new plan
[ WARN] [1575348684.111786078]: DWA planner failed to produce path.
[ WARN] [1575348684.209823304]: Clearing costmap to unstuck robot (3.000000m).
[ INFO] [1575348684.309795496]: Got new plan
[ WARN] [1575348684.312751095]: DWA planner failed to produce path.
[ WARN] [1575348684.409828166]: Rotate recovery behavior started.
[ INFO] [1575348686.451325417]: Resizing costmap to 96 X 100 at 0.050000 m/pix
[ INFO] [1575348687.329028744]: Resizing costmap to 115 X 108 at 0.050000 m/pix
[ INFO] [1575348688.381409724]: Resizing costmap to 122 X 108 at 0.050000 m/pix
[ERROR] [1575348691.160860747]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ INFO] [1575348691.161513895]: Got new plan
[ INFO] [1575348691.261657512]: Got new plan
[ WARN] [1575348691.263953147]: DWA planner failed to produce path.
[ WARN] [1575348691.361652746]: Clearing costmap to unstuck robot (1.840000m).
[ INFO] [1575348691.461687595]: Got new plan
[ WARN] [1575348691.463722655]: DWA planner failed to produce path.
[ WARN] [1575348691.561647469]: Rotate recovery behavior started.
[ERROR] [1575348691.562730823]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ INFO] [1575348691.661660142]: Got new plan
[ WARN] [1575348691.663620899]: DWA planner failed to produce path.
[ERROR] [1575348691.761684944]: Aborting because a valid control could not be found. Even after executing all recovery behaviors

So, I cant just change those parameters. I also have read that Max/min velocity and acceleration is recommended by mobile base's manual. How can I set acc_lim_x lower then?

I want my robot moving smoothly to the goal, without jerks. Which move_base parameters should I change?

EDIT:

cmd_vel average rate is from 2.8 to 10.

for goal 1:

average rate: 10.013
    min: 0.000s max: 0.329s std dev: 0.08723s window: 11
average rate: 9.838
    min: 0.000s max: 0.329s std dev: 0.06238s window: 21
average rate: 9.926
    min: 0 ...
(more)
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Comments

1

Getting a smooth trajectory for your robot is mostly about tweaking the parameters. I would suggest you take a look here. And try different local planners and see which one suits best your needs and then try to tweak it's params further.

Choco93 gravatar imageChoco93 ( 2019-12-03 02:41:08 -0600 )edit
1

are you mapping while moving? I'd not expect to see the costmap resizing if you are purely navigating

Procópio gravatar imageProcópio ( 2019-12-03 02:49:21 -0600 )edit
1

You can fine tune the parameters, check the publication rate of cmd_vel too, if it's too slow that would induce those jerky movements or you can use a velocity smoother.

Delb gravatar imageDelb ( 2019-12-03 03:34:02 -0600 )edit

@Choco93, I tried all of them, they have exactly the same problem: robot jerks, or does not move if I set acceleration too low.

june2473 gravatar imagejune2473 ( 2019-12-04 02:27:33 -0600 )edit

@Procópio, yes, I am mapping with rtabmap

june2473 gravatar imagejune2473 ( 2019-12-04 02:28:56 -0600 )edit
1

I tried all of them

Saying that doesn't tell us exactly what you tried. You have to give more informations you didn't show the move_base configuration. Also what is the publication rate of cmd_vel ? Have you also checked if cmd_vel topic has consistent data ?

Delb gravatar imageDelb ( 2019-12-04 02:51:38 -0600 )edit

@Delb, Sorry for delay,

I have updated question with cmd_vel rates.

move_base configuration is default by turtlebot3_navigation

june2473 gravatar imagejune2473 ( 2019-12-04 04:30:01 -0600 )edit
1

It seems that you are publishing at 10 Hz which should be fine but can you try to change the param controller_frequency to something higher (maybe 100 Hz to check if there are differences but 20Hz as the default value should be fine) ?

Delb gravatar imageDelb ( 2019-12-04 04:48:28 -0600 )edit

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answered 2019-12-04 03:22:44 -0600

Procópio gravatar image

According to your answer in my comment, I believe this behaviour may be due to you navigating while mapping. Can you try to navigate in a previously created map?

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Comments

yes, but I want mapping + move_base

june2473 gravatar imagejune2473 ( 2019-12-05 00:54:19 -0600 )edit

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Asked: 2019-12-03 00:17:29 -0600

Seen: 44 times

Last updated: Dec 04