Move_base produce very low rotation speed
Hello,
I struggling with an issue related to move_base. Move_base produce very low rotation speed:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.38777878078e-17
Does anyone knows the reason of that and how to fix it?
Thank you in advance.
EDIT 1
This is my dwa config:
base_local_planner: dwa_local_planner/DWAPlannerROS
DWAPlannerROS:
# base_local_planner params
holonomic_robot: false
max_vel_trans: 0.6
min_vel_trans: 0.13
max_vel_x: 0.39
min_vel_x: 0.13
max_vel_y: 0.
min_vel_y: 0.
max_vel_theta: 0.6
min_vel_theta: -0.6
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
acc_lim_x: 2.
acc_lim_y: 1.
acc_lim_theta: 3.
acc_lim_trans: 2.
# dwa_params
sim_time: 4.67
sim_granularity: 0.1
vx_samples: 10
vy_samples: 3
vth_samples: 15
path_distance_bias: 0.8
goal_distance_bias: 0.8
occdist_scale: 0.011
stop_time_buffer: 1.
oscillation_reset_dist: 0.3
oscillation_reset_angle: 0.8
What is cmd_vel? Zero? Where is your odometry coming from? Could be countering imu drift, noise(that isnt filterd), rounding errors. Would be good to see the move_base configuration files as well.
@Dragonslayer what do you mean by cmd_vel zero? My odometry is coming from my driver. I don't have imu, I am using odometry from wheel encoders and Lidar with amcl. Do you need move_base parameters or dwa?
Could you check if the robot footprint is configured to the right size in the costmaps and also whether the costmaps show any obstructions around the robot (add map and change topic of display to global or local costmap)?
@harshal The robot footprint is set correctly and there were no obstacles in that time. You can check the screenshot in that question:
https://answers.ros.org/question/3567...
Please post your local planner config.
@Yehor My question was do you somehow order a theta motion or should it stand still? As you seem to fuse lidar and encoder odometry, with ekf I had issues with tiny y_vel commands, they where because of rounding errors, resulting in crazy behaviour. What kind of base are using diff-drive?
@David Lu I have added dwa config, could you please check.
@Dragonslayer I can't understand what do you mean by "order a theta motion", I have added a dwa config file which I used, please check it. Regarding fusing odometry and laser scan, I want to say that I don't use ekf.