Tuning move_base to avoid in place rotation
Hi, I've implemented Navigation Stack for autonomous navigation of a differential-wheel robot. In particolar, my vehicle is composed by two driving wheels and a caster wheel. Becouse of the gearmotor the vehicle can't rotate in place for low rotational velocities (example 0.5 rad/sec) and would not set the parameter min_in_place_vel_theta to an high value becouse this will cause lot of problems during navigation.
So is possible to tuning planner parameter in order to avoid in-place rotation?
This is for now the dwa_local_planner_params.yaml file:
DWAPlannerROS:
max_vel_x: 0.2
min_vel_x: 0.10
max_vel_y: 0.0
min_vel_y: 0.0
max_vel_trans: 0.2
min_vel_trans: 0.001
max_vel_theta: 1.5
min_vel_theta: 0.8
min_in_place_vel_theta: 1.0
acc_lim_x: 2.0
acc_lim_y: 0.0
acc_lim_theta: 8.0
xy_goal_tolerance: 0.05
yaw_goal_tolerance: 0.17
latch_xy_goal_tolerance: false
sim_time: 1.5
vx_samples: 10
vy_samples: 0
vth_samples: 20
controller_frequency: 2.0
path_distance_bias: 32.0
goal_distance_bias: 20.0
occdist_scale: 0.01
forward_point_distance: 0.1
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
publish_traj_pc : true
publish_cost_grid_pc: true
How about switching to another local planner, e.g. teb_local_planner which is more suitable for car-like motion.
Hi, thank you for your reply! Yes I've tried also teb_local_planner but it requires too much computational effort (I'm using rtab_map and Navigation Stack on Jetson Nano). Can I get any results by playing with the scoring parameters?