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teb_local_planner has problems when reaching the goal and has to correct several times

asked 2020-08-31 17:36:47 -0500

acetousk gravatar image

The following should make this all reproducible:

  • I'm using pop_os 18.04 with ROS Melodic.
  • I am using the navigation stack with the global_planner and the teb_local_planner.
  • I am simulating my robot with gazebo 9.0. For my base controller I am using the diff_drive_controller.
  • The navigation launch file that I'm using is here
  • navigation config files are here
  • my map and config is here
  • gazebo launch file is here where all of the robot specifications are here
  • diff_drive config is here

If you look at the gif below, it looks like the robot doesn't slow down enough when reaching the goal and thus has to correct several times before it reaches the goal. It also looks like when following the line, it over compensates for turning and that also makes it so that the robot has to correct several times before reaching the goal.

https://i.imgur.com/g3CXkfS.gif

I realized this problem when I was trying to make the planners work better and no matter what I did these problems didn't seem to change. Are these problems inherit in the teb_local_planner, is it a problem with the global planner / other package, or is it a problem with my configuration files?

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answered 2020-11-02 05:27:52 -0500

harshal gravatar image

This doesn't seem like a TEB characteristic, and is likely just the tuning. Not sure exactly what yet, but your max_global_plan_lookahead_dist (perhaps in combination with robot kinematics) seems pretty low. Unless you have already tried it, could you check if it persists with, say, a higher value of 4.0 m for the max_global_plan_lookahead_dist param?

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Asked: 2020-08-31 17:36:47 -0500

Seen: 179 times

Last updated: Nov 02 '20