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teb_local_planner not publishing to cmd_vel

asked 2021-01-10 14:12:54 -0500

Woz gravatar image

updated 2021-01-10 14:36:31 -0500

I'm having a similar issue to this question I'm using ROS melodic Ubuntu 18 LTS on an NVidia Jetson Nano.

I was using DWAPlannerROS with no issues but wanted to try teb_local_planner. However, when I send a goal to move_base from rviz, a path generates but nothing is published on my cmd_vel topic (I've remapped to /dodobot/cmd_vel). I've made sure move_base isn't publishing twist messages to a random topic. Here's a link to my config files:

move_base launch:

One difference I noticed between running DWAPlannerROS and teb_local_planner is the move_base will require a SIGTERM if I've specified a goal and teb_local_planner is loaded. If no goal is specified, the node will shutdown normally. I turned on debug messages and saw this message appear:

Planner thread is suspending

debug messages

I don't know if the Discarded oldest message (current queue size [0]) message is a problem. It appeared when running DWA so I assume it isn't. I can't figure out what would be causing teb_local_planner to suspend if that is in fact the problem.


DWAPlannerROS is publishing to /dodobot/cmd_vel with no issues. With a similar setup, teb_local_planner is not publishing any twist messages on any topic and appears to be suspended from some reason.

Edit 1

Planner thread is suspending appears when I run with DWA as well. So it's not the issue.

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answered 2021-01-17 19:28:29 -0500

Woz gravatar image

Turns out teb_local_planner exponentially longer to compute when the local costmap is too large. I reduced the local cost map size from 3x3 with 0.025 resolution to 2x2 with 0.05 resolution and now it runs at the requested frequency.

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Asked: 2021-01-10 14:12:54 -0500

Seen: 178 times

Last updated: Jan 17 '21