unable to increase speed of the bot using dwa_local_parameter
I am trying to increase the speed of skid steering bot using dwa local planner but the speed doesn't increase above 0.5. I have tried manipulating acceleration, velocity and translational limit in the parameter file but the result is still the same. I don't get what is limiting the bot to not increase the speed above 0.5 m/s.
Update- I checked the situation using
rqt_reconfigureand the bot is able to react to any value inmax_vel_xthroughout the slider. But when I mention the same values in the yaml file, the bot sticks to 0.5 m/s for vel > 0.5.
Below is the content of my dwa_local_planner_params.yaml file-
DWAPlannerROS:
max_vel_x: 1.5
min_vel_x: 0.0
max_vel_y: 0.0
min_vel_y: 0.0
max_trans_vel: 1.5
min_trans_vel: 0.0
trans_stopped_vel: 0.1
max_rot_vel: 5.0
min_rot_vel: 0.4
rot_stopped_vel: 0.4
acc_lim_x: 2.5
acc_lim_theta: 2.0
acc_lim_y: 2.5
yaw_goal_tolerance: 0.3
xy_goal_tolerance: 0.5
sim_time: 1.0
vx_samples: 6
vy_samples: 1
vtheta_samples: 20
path_distance_bias: 90.0
goal_distance_bias: 24.0
occdist_scale: 0.50
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
publish_traj_pc : true
publish_cost_grid_pc: true
global_frame_id: odom
Launch File-
<node pkg="agv_navigation" name="controller" type="goal_sequence.py"></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<param name ="publish_frequency" type=" double" value="50.0"/>
<arg name="map_file" value="$(find agv_navigation)/map/world.yaml"/>
<node pkg="map_server" type="map_server" name="map_server" args="$(arg map_file)" output = "screen" />
<include file="$(find agv_navigation)/launch/amcl.launch" />
<include file="$(find agv_description)/launch/agv_visualize.launch"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
<rosparam file="$(find agv_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find agv_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find agv_navigation)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find agv_navigation)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find agv_navigation)/config/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find agv_navigation)/config/move_base_params.yaml" command="load"/>
<rosparam file="$(find agv_navigation)/config/dwa_local_planner_params.yaml" command="load"/>
<rosparam file="$(find agv_navigation)/config/global_planner.yaml" command="load"/>
<remap from="cmd_vel" to="/cmd_vel"/>
<remap from="odom" to="odom"/>
</node>
Please use proper tags.
gmappinganddjikstrahave nothing to do with your question. Thanks.Did you observe
move_baseactually publishing only a maximum velocity of 0.5m/s? Might be something else is limiting the robots velocity as well. Also, please check that the parameters are actually used, i.e. they are loaded in the correct namespace.max_vel_xandmax_vel_transshould be the relevant ones. Does changing any parmeter have any effect on the robot? Try setting it to 0.1m/s and see if it is observing this limit. If not, you probably have loaded the parameters in the wrong namespace. Edit your question and show the launch file with which you upload the parameters.Bot is reacting to speed less than 0.5 m/s. But it stays at 0.5-0.55 even if I provide 1.0 m/s.
is this stuff on a repo that we can check? I don't see anything wrong with the configuration, but there are so many things to check that having this on a repo would really help...