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move_base_flex loading DWB_local_planner using Adapter, but cannot plan

asked 2020-05-19 07:23:21 -0500

artemiialessandrini gravatar image

updated 2022-01-22 16:10:34 -0500

Evgeny gravatar image

Hi, I'm trying to get familiar with SMACH and adapting tutorial, but changing default dwa_local_planner to DWB, since it showed a great performance.

Since It's nav_core, I'm using nav_core_adapter, loading DWB_local_planner as:

controllers: - name: 'BaseLocalPlanner' type: 'nav_core_adapter::LocalPlannerAdapter'

LocalPlannerAdapter: planner_name: dwb_local_planner::DWBLocalPlanner DWBLocalPlanner: update_frequency: 5.0

While running move_base_flex, all the things are loaded without errors, but when choosing a goal, I'm getting a lot of :

[ERROR] []: computeVelocityCommands exception: No valid trajectories out of 0!

Any clue what the reason could be? Am I missing something in SMACH python file?

[EDIT 1]:

planner_ns/evaluation output is a good debugging tool, thanks @David Lu

Output this message:

frame_id: "odom_combined"
twists: []
best_index: 0
worst_index: 0

I found his thread. If I got it right, planner is waiting for /odom topic, but by defalult it's publishing /odom_combined.

Also, local and global planner parameter's global map: set to map in common_parameters.yaml, which needs to be set as odom for local_planner_params.yaml. The last, pay attention to the velocity, as it's explained in the link.

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GetPath.action, ExePath.action explained at 294278/custom-global-path/

artemiialessandrini gravatar image artemiialessandrini  ( 2020-05-20 01:42:28 -0500 )edit

Can you capture the output of planner_ns/evaluation in a bag and post it?

David Lu gravatar image David Lu  ( 2020-05-20 14:27:43 -0500 )edit

I updated a thread, thanks again! @David Lu

artemiialessandrini gravatar image artemiialessandrini  ( 2020-05-21 05:00:06 -0500 )edit

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answered 2020-05-21 04:59:20 -0500

artemiialessandrini gravatar image

updated 2020-05-21 05:03:10 -0500

See [EDIT] in the header

  1. capture the output of planner_ns/evaluation
  2. Follow this thread:
    1) pay attention odom to be set as global_frame in local_costmap_params.yaml
    2) have /odom topic
    3) have planner set using nav_core_adapter as explained in description locusrobotics/robot_navigation/nav_core_adapter
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Glad it worked out for you.

David Lu gravatar image David Lu  ( 2020-06-05 11:58:05 -0500 )edit

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Asked: 2020-05-19 07:23:21 -0500

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Last updated: May 21 '20