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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