# odom_vel, cmd_vel, trajectory planner

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?

TrajectoryPlannerROS:

  #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

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

#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 close merge delete