DWA doesn't avoid obstacles and overshoots the trajectory
Hi ROS community,
It is more than half a year since I'm struggling with the navigation stack, trying to achieve stable navigation. I have changed the wheels for an expensive one and utilized Intel RealSense D435i camera for local costmap but the behavior of the robot still bad.
The robot reacts to the dynamic obstacles very late, when it is already in the obstacle. Also, the robot rotates very slow like it is trying to rotate to track the global path but it can't and move straight.
This is the video from rviz: dwa navigation try
If someone has any suggestion why the robot moves like that, please help.
Thank you!
EDIT 1
This is my dwa parameters:
controller_frequency: 10.
controller_patience: 0.5
planner_patience: 0.5
recovery_behavior_enabled: true
recovery_behaviors:
- name: 'aggressive_reset_1'
type: 'clear_costmap_recovery/ClearCostmapRecovery'
- name: 'aggressive_reset_2'
type: 'rotate_recovery/RotateRecovery'
aggressive_reset:
reset_distance: 0.0
layer_names: ["obstacles"]
base_local_planner: dwa_local_planner/DWAPlannerROS
DWAPlannerROS:
# base_local_planner params
holonomic_robot: false
max_vel_trans: 0.3
min_vel_trans: 0.05
max_vel_x: 0.3
min_vel_x: 0.085
max_vel_y: 0.
min_vel_y: 0.
max_vel_theta: 1.0
min_vel_theta: -1.0
trans_stopped_vel: 0.084
theta_stopped_vel: 0.13
acc_lim_x: 1.22
acc_lim_y: 0.
acc_lim_theta: 1.81
acc_lim_trans: 1.22
yaw_goal_tolerance: 0.05
xy_goal_tolerance: 0.1
latch_xy_goal_tolerance: true
# dwa_params
sim_time: 1.71
sim_granularity: 0.025
vx_samples: 5
vy_samples: 0
vth_samples: 30
path_distance_bias: 0.8
goal_distance_bias: 0.4
occdist_scale: 0.011
forward_point_distance: 0.0 # for diff-drive robots recomended set to 0.
stop_time_buffer: 0.2
oscillation_reset_dist: 0.5
oscillation_reset_angle: 0.75
use_dwa: false
publish_traj_pc: true
Asked by Yehor on 2021-03-05 10:24:18 UTC
Comments
I think would be helpful if you shared your navigation parameter files.
Asked by shlock on 2021-03-07 09:14:24 UTC
@shlock I have added my dwa planner parameters, please check)
Asked by Yehor on 2021-03-08 06:48:50 UTC
Sorry, I only asked you to share so that when someone more experienced saw the post they would have more info.
Have you checked the ros navigation tuning guide? It uses the DWA Planner and might help you.
Asked by shlock on 2021-03-09 03:45:22 UTC