Quetion about the velocity of robot when using dwa_local_planner [closed]
DWAPlannerROS:
acc_lim_x: 0.8
acc_limit_trans: 0.8
acc_lim_y: 0.0
acc_lim_theta: 3.14
min_vel_x: 0.00
max_vel_x: 2.0
min_trans_vel: 0.05
max_trans_vel: 2.0
min_vel_y: 0.0
max_vel_y: 0.0 max_rot_vel: 1.0
min_rot_vel: 0.4
rot_stopped_vel: 0.01
trans_stopped_vel: 0.01
vx_samples: 10
vy_samples: 1
vth_samples: 20
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.3
latch_xy_goal_tolerance: true
sim_time: 1.0
path_distance_bias: 32.0 #default:32, previous:5
goal_distance_bias: 24.0 #default:24, previous:9
occdist_scale: 0.01 #default:0.01 oscillation_reset_dist: 0.05 forward_point_distance: 0.0 prune_plan: true holonomic_robot: false
When I use parameters above, the maximum velocity of my robot is limited to .055m/s. Can anyone tell me the reason
Try upping your
sim_timeto a couple of seconds. That parameter is telling your planner to only look ahead 1 second which may no be far enough ahead in time for it to be confident enough to speed up. This is because when it plans it needs to be ready to come to a complete stop after the 1 second for safety reasons. I think this might be the reason, let us know what happens when that parameter changes and maybe we can make this an answer and accept it.When using dwa_local_planner, upping the sim_time has no effect on the velocity. when using base_local_planner, the maximum velocity of my robot is limited to 0.55m/s if the time_time is more than 5s. Downing the sim_time to 2s or 1s can make my robot move faster in my case when using base_local_planner. All the algorathm is run in simulation environment Gazebo. Will the reason be computational limits ? I really have no idea.
I have known the reason. It's because many parameters in my YAML are deprecated, namely the name of many parameters have changed.
Well that could be a huge problem...