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Local path don't match Global path [closed]

asked 2020-05-20 01:41:40 -0500

Yasu.M gravatar image

updated 2020-06-01 23:51:30 -0500

Hi.

I'm making car robot using mechanum wheels.

It uses the navigation package for automatic driving.

As a driving test, we drove straight back and forth between two unobstructed points. It went straight ahead immediately after the launch. The local path was also in line with the global path. However over time the local path will no longer match the global path.

If you know the cause of this symptom and how to solve it, please let me know!

Add issue preview and setting yaml files.

local_planner.yaml

  max_vel_x: 1.0
  min_vel_x: -1.0

  max_vel_y: 1.0
  min_vel_y: -1.0

  max_trans_vel:  1.0
  min_trans_vel:  0.01

  max_rot_vel: 0.5
  min_rot_vel: 0.013
  min_in_place_vel_theta: 0.001

  acc_lim_x: 0.3
  acc_lim_y: 0.3
  acc_lim_theta: 0.1

  xy_goal_tolerance: 0.03
  yaw_goal_tolerance: 0.026
  latch_xy_goal_tolerance: false

  trans_stopped_vel: 0.005
  rot_stopped_vel: 0.005

  sim_time: 2.0
  vx_samples: 6
  vy_samples: 6
  vtheta_samples: 6
  use_dwa: true

  path_distance_bias: 100.0
  goal_distance_bias: 60.0
  occdist_scale: 0.1
  forward_point_distance: 0
  stop_time_buffer: 0.5
  scaling_speed: 0.1
  max_scaling_factor: 0.5
  aligned_approach_dist: 3.0
  aligned_approach_scale: 10.0
  oscillation_reset_dist: 0.05

  inscribed_radius: 0.53
  circumscribed_radius: 1.65
  publish_traj_pc : true

a

move_base.yaml

  controller_frequency: 5 
  planner_patience: 15.0 
  controller_patience: 0.2
  max_planning_retries: 1
  conservative_reset_dist: 5.0 
  planner_frequency: 5 
  oscillation_timeout: 10.0
  oscillation_distance: 0.2

At launch

25 min later

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Comments

Please include details about what version of ROS you are using. Also, check the output velocity to ensure that the problem is move_base and not something else.

David Lu gravatar image David Lu  ( 2020-05-20 14:25:54 -0500 )edit

Sorry, I use ROS kinetic. I checked /cmd_vel topick. It's published from only move_base.

Yasu.M gravatar image Yasu.M  ( 2020-05-20 18:18:14 -0500 )edit

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answered 2020-06-01 23:50:10 -0500

Yasu.M gravatar image

updated 2020-06-01 23:50:19 -0500

I found bags from coordinate.

The navigation calculates the robot's speed in the local coordinate system, but I was giving it the speed in the global coordinate system.

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Asked: 2020-05-20 01:41:40 -0500

Seen: 81 times

Last updated: Jun 01 '20