Robot gets problem when the goal is set behind
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
A screenshot of rviz showing the robot and planned route would help to understand the situation..
Updated @alex_
Which local planner are you using?
I'm using dwalocalplanner.
Can you share the configuration of your planners?
Yes, I updated @matteocotifava
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."