Local path don't match Global path [closed]
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
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.
Sorry, I use ROS kinetic. I checked /cmd_vel topick. It's published from only move_base.