odom_vel, cmd_vel, trajectory planner

asked 2021-03-18 07:03:59 -0500

al_ca gravatar image

updated 2022-04-17 10:35:43 -0500

lucasw gravatar image

Hi there,

Is it right or wrong the correlation between these two types of data, what's your opinion?

I am trying to fix a problem in the motion planning

My problem is after giving a navigation goal in rviz the robot starts rotating even though the goal is 0.5 m straight ahead of it, sometimes achieves the goal but doing a weird movement.

I think the solution is tweaking the params in trajectory planner can someone help where to focus?

image description

image description

image description


  #Set the acceleration limits of the robot

  acc_lim_theta: 0.1

  acc_lim_x: 0.1

  acc_lim_y: 0.1 #if it's not good change it to 1.5

  #Set the velocity limits of the robot

  max_vel_x: 0.1  #if its wrong change the max & min vel to 0.4 and -0.4

  min_vel_x: 0.05 # make sure min_vel_x * sim_time <2 * xy_goal_tolerance

  max_vel_y: 0.1                  

  min_vel_y: -0.1                

  max_vel_theta: 0.1

  min_vel_theta: -0.1

  min_in_place_vel_theta: 0.1

  #y_vels: [-0.6, -0.24, 0.24, 0.6]

  controller_frequency: 5.0

  #The velocity the robot will command when trying to escape from a stuck situation

  escape_vel: -0.2

  #For this example, we'll use a holonomic robot

  holonomic_robot: true

  #Set the tolerance on achieving a goal

  xy_goal_tolerance: 0.05 # m

  yaw_goal_tolerance: 0.05 # rad

  latch_xy_goal_tolerance: false

  #We'll configure how long and with what granularity we'll forward simulate trajectories

  sim_time: 1.0

  sim_granularity: 0.025 # meter

  vx_samples: 10

  vy_samples: 10

  vtheta_samples: 30

  #Parameters for scoring trajectories

  meter_scoring: true # true: unit is meter, false: cell

  path_distance_bias: 1.0 # max is 5

  goal_distance_bias: 1.0 # max is 5

  heading_scoring: false

  heading_lookahead: 0.3 # meter

  heading_scoring_timestep: 0.5 # secs

  #We'll use the Dynamic Window Approach to control instead of Trajectory Rollout for this example

  dwa: false

  #How far the robot must travel before oscillation flags are reset

  oscillation_reset_dist: 0.01

  #Eat up the plan as the robot moves along it

  prune_plan: true
edit retag flag offensive close merge delete


well its rotating because it is stuck and is performing a recovery behavior

bribri123 gravatar image bribri123  ( 2022-04-17 11:07:19 -0500 )edit

maybe this is because your laserscan is not aligned with your costmaps correctly, can you send a photo of your costmap and your laserscan ontop of the costmap

bribri123 gravatar image bribri123  ( 2022-04-17 11:15:57 -0500 )edit