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Robot rotates to the wrong direction

I am launching my robot with a DWA local planner and a navfn global planner. The planners manage to produce a good path, however sometimes the robot rotates to tight instead of the left (i.e rotates 270 degrees to the right instead of just 90 to the left). Eventually it reaches the correct orientation, but it does so inefficiently. It does not look like he is doing it because of obstacles. My DWA parameters are below. does anybody have a suggestion for why is it so?

    DWAPlannerROS:

  holonomic_robot: false # true

  # Tolerances                  Defaults
  yaw_goal_tolerance: 0.3      # 0.05
  xy_goal_tolerance:  0.2      # 0.10
  latch_xy_goal_tolerance: false # false # true

  # Forward simulation          Defaults
  use_dwa: true                 # true
  sim_time: 1.0 # 1.0                 # 1.7
  sim_granularity: 0.025        # 0.025
  angular_sim_granularity: 0.7025  
  vx_samples: 3                 # 3
  vy_samples: 0                # 10 # 7
  vth_samples: 40               # 20 # 37

  # Scoring                     Defaults
  meter_scoring: false          
  path_distance_bias: 32.0      # 32.0
  goal_distance_bias: 24.0      # 24.0
  occdist_scale: 0.01           # 0.01
  forward_point_distance: 0.325 # 0.325
  stop_time_buffer: 0.20        # 0.20
  scaling_speed: 0.25           # 0.25
  max_scaling_factor: 0.20      # 0.20
  heading_lookahead: 0.325
  heading_scoring_timestep: 0.8
  heading_scoring: true       
  penalize_negative_x: false    

    enter code here

  # Acceleration and velocity limits

  # acc_limit_trans: 1.0
  acc_lim_x: 2.5                # 2.5
  acc_lim_y: 2.0                # 2.5
  acc_lim_theta: 3.0            # 3.2

  # max_trans_vel: 0.5
  # min_trans_vel: 0.1
  max_vel_x: +0.06 # 0.3
  min_vel_x: 0.0 #0.0
  max_vel_y: 0.0 #+0.1
  min_vel_y: 0.0 #0.0

  max_vel_theta: +0.33 # +1.0
  min_vel_theta: 0.3 # 0.0

  # Other                       Defaults
  oscillation_reset_dist: 0.1  # 0.05
  oscillation_reset_angle: 0.20 # 0.20
  prune_plan: true             # true # false
  trans_stopped_vel: 0.1        # 0.1
#  rot_stopped_vel: 0.1          # 0.1
  publish_cost_grid_pc: true    # false

Asked by amit_z on 2021-06-02 08:38:21 UTC

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