# ros robot is not stopping

I am using ROS Melodic, global_planner ,and dwa_local_planner. I have a small AGV project so far the whole system works well in terms of obstacle avoidance and navigation. However, if I send a command to turn in place to the 90 degrees, it turns to 125 degrees. After that, it turns back to the 90 degrees. I am running the move_base with 30 Hz. Usually, move_Base is not giving any warnings.

Should I change the local planner algorithm? Do you think something is wrong with my parameters?

# units are in meters/sec

DWAPlannerROS:

xy_goal_tolerance: 0.3
yaw_goal_tolerance: 0.1

sim_time: 2.5 # The amount of time to forward-simulate trajectories in seconds
sim_granularity: 0.1 # The step size, in meters, to take between points on a given trajectory
angular_sim_granularity: 0.1
vx_samples: 8.0
vy_samples: 0.0
vth_samples: 20.0

min_vel_trans: 0.1
max_vel_trans: 0.4
acc_lim_theta: 18.0
acc_lim_trans: 9.0

forward_point_distance: 0.0
acc_lim_x: 9.0
acc_lim_y: 0.0
max_vel_y: 0.0
min_vel_y: 0.0
max_vel_x: 0.4 # m/sec (agv_default = 0.4)
min_vel_x: 0.1 # m/sec
max_vel_theta: 3.0
min_vel_theta: 1.0
latch_xy_goal_tolerance: true
path_distance_bias: 0.8
goal_distance_bias: 0.6
# occdist_scale: 0.02
oscillation_reset_dist: 0.05 # How far the robot must travel in meters before oscillation flags are reset.
prune_plan: true
scaling_speed: 0.8

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