Ask Your Question
0

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 https://answers.ros.org/question/316840/teb_local_planner-does-not-publish-to-cmd_vel/. 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:

teb_local_planner: https://github.com/Woz4tetra/dodobot-ros/blob/master/src/db_config/config/move_base/teb_planner_params.yaml
move_base launch: https://github.com/Woz4tetra/dodobot-ros/blob/master/src/db_config/launch/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.

tl;dr

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.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

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

Seen: 196 times

Last updated: Jan 17 '21