Robot gets problem when the goal is set behind

asked 2020-10-19 23:00:37 -0600

taun gravatar image

updated 2020-10-23 01:01:39 -0600

Hi all,

My robot navigates fine for every other goal other than ones behind it that require it to turn 180. In my case the robot doesn't move forward but instead it gets stuck rotating left, right, left, right... until it breaks oscillation timeout limit. The costmap totally is clear around the robot. I cannot upload photos

Log: https://drive.google.com/file/d/1t2U0...

Rviz screenshot: https://drive.google.com/file/d/1UWq5...

DWAlocalplanner config:

# Robot Configuration Parameters
  max_vel_x: 0.2
  min_vel_x: 0.1

  max_vel_y: 0.2
  min_vel_y: 0.1

# The velocity when robot is moving in a straight line
  max_vel_trans:  0.2
  min_vel_trans:  0.1

  max_vel_theta: 2
  min_vel_theta: 0

  acc_lim_x: 1
  acc_lim_y: 1
  acc_lim_theta: 3.2 

# Goal Tolerance Parametes
  xy_goal_tolerance: 0.2
  yaw_goal_tolerance: 0.1
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.5
  vx_samples: 20
  vy_samples: 0
  vth_samples: 40
  controller_frequency: 10.0

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 20.0
  occdist_scale: 0.02
  forward_point_distance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : false
  publish_cost_grid_pc: false
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Comments

A screenshot of rviz showing the robot and planned route would help to understand the situation..

alex_ gravatar image alex_  ( 2020-10-20 01:05:02 -0600 )edit

Updated @alex_

taun gravatar image taun  ( 2020-10-20 02:30:25 -0600 )edit

Which local planner are you using?

matteocotifava gravatar image matteocotifava  ( 2020-10-22 14:26:08 -0600 )edit

I'm using dwalocalplanner.

taun gravatar image taun  ( 2020-10-22 21:51:21 -0600 )edit

Can you share the configuration of your planners?

matteocotifava gravatar image matteocotifava  ( 2020-10-23 00:39:55 -0600 )edit

Yes, I updated @matteocotifava

taun gravatar image taun  ( 2020-10-23 01:02:35 -0600 )edit

This question might be useful #210914. From one of the answers, "DWA cannot perform a rotate in spot motion. It will always trying to perform an arc motion, combining trans and rot velocity. However, with fined tuned parameters, it will try to U-turn in a very small radius."

jorgemia gravatar image jorgemia  ( 2020-10-23 05:00:12 -0600 )edit