DWA_local_planner - cmd_vel question

asked 2020-03-25 12:14:27 -0600

Dragonslayer gravatar image

Hi, Iam using dwa_local_planner for navigation. Iam at the stage of tuning the planner but ran into ussues. First as I understand it the planner should generate X/Z or Y/Z commands, however I get X/Y/Z commands when allowing for holonomic mode. This messes up my basecontroller and the steering commands are all over the place. Second if i make it work without holonomic modes I get a lot of oscillation so much that the odometry errors (which are minimal when just ordering commands via teleop) accumulate to approx. 45° in a 90°turn path.

Any suggestions how to smoothen things out?

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Start by setting max speed, both rotation and linear, to a low value. Navstack tutorial has a page for tuning. http://wiki.ros.org/navigation/Tutorials

billy gravatar image billy  ( 2020-03-28 13:47:04 -0600 )edit

Thanks for your answer. I know the tutorials. The speeds are very low on my base anyway, because of that I also tried trajectory planner which is called to might work better on such robots, but its the same there, so Iam testing on.

Dragonslayer gravatar image Dragonslayer  ( 2020-04-04 05:48:47 -0600 )edit