navigation stack -dwa planner error

asked 2021-06-02 23:23:07 -0600

harish556 gravatar image

updated 2021-06-03 12:00:29 -0600

i dont konw how explani this so here is a video of it.

link

base_local_planner

TrajectoryPlannerROS:

  holonomic_robot: false
  dwa: true

  heading_scoring: false
  heading_lookahead: 1.0
  max_vel_x: 0.12    #0.12
  min_vel_x: 0.09
  max_vel_theta: 0.08
  min_in_place_vel_theta: 0.04
  escape_vel: -0.09
  acc_lim_theta: 0.02
  acc_lim_x: 0.12
  acc_lim_y: 0.12

dwa_local_planner

DWAPlannerROS:

  holonomic_robot: false
  dwa: true
  heading_scoring: false
  heading_lookahead: 1.0
  acc_lim_x: 0.5
  acc_lim_y: 0.0
  acc_lim_th: 0.3
  max_vel_trans: 0.5
  min_vel_trans: 0.1
  max_vel_x: 0.5     #0.12 0.3
  min_vel_x: -0.5
  max_vel_y: 0.0
  min_vel_y: 0.0
  max_vel_theta: 0.4
  min_vel_theta: 0.1
  yaw_goal_tolerance: 0.15
  xy_goal_tolerance: 0.15 #0.10 # 0.50
  latch_xy_goal_tolerance: false
  sim_time: 2.0 #4.0 #2.0
  sim_granularity: 0.025  #0.25 #0.025
  vx_samples: 5 #20  #3
  vy_samples: 0
  vth_samples: 10  #40 #5
  controller_frequency: 5 #20.0  #5

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 24.0
  occdist_scale: 0.5
  forward_point_distance: 0.325
  stop_time_buffer: 1.0
  scaling_speed: 0.25
  max_scaling_factor: 0.2
  oscillation_reset_dist: 0.05
  oscillation_reset_angle: 0.1

# Debugging
  publish_cost_grid: true
  publish_cost_grid_pc: true
  publish_traj_pc: true
  prune_plan: true
  global_frame_id : odom

costmap commom params

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.35, 0.25], [-0.22, 0.25], [-0.22, -0.25], [0.35, -0.25]]
footprint_padding: 0.01

inflation_radius: 0.1
observation_sources: laser
laser: {sensor_frame: lidar_link, data_type: LaserScan, clearing: true, marking: true, topic: lidar, inf_is_valid: true}

global costmap

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  static_map: true
  width: 25.0
  height: 25.0
  inflation_layer:
    inflation_radius: 0.1

local costmap

local_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.3
  static_map: true
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05
  inflation_layer: 
    inflation_radius: 0.2       # 0.0 Localdeki alanlar

base map params

base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
recovery_behavior_enabled: false
recovery_behaviour_enabled: false

controller_patience: 15.0

controller_frequency: 5.0
planner_frequency: 1.0
conservative_reset_dist: 3.0
planner_frequency: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2


GlobalPlanner:
  allow_unknown: true
  default_tolerance: 0.01
  visualize_potential: true

  use_dijkstra: true
  use_quadratic: true
  use_grid_path: false
  old_navfn_behavior: false
  orientation_mode: 2
  orientation_window_size: 2
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Comments

Can you please post the video to some site that does not need registration to view it?

Humpelstilzchen gravatar image Humpelstilzchen  ( 2021-06-03 04:45:21 -0600 )edit

@Humpelstilzchen now you can see

harish556 gravatar image harish556  ( 2021-06-03 05:12:50 -0600 )edit

ok, I see position jumps. I guess you are using amcl? Can you please run the Troubleshooting tests?

Humpelstilzchen gravatar image Humpelstilzchen  ( 2021-06-03 07:30:15 -0600 )edit

@Humpelstilzchen i thing my problem is 2nd one it's telling me to publish the laser's height i have searched it i was not able to find any can tell how

harish556 gravatar image harish556  ( 2021-06-03 09:00:00 -0600 )edit

Did you run the tests from "Is My Odometry Good Enough for AMCL"?

Humpelstilzchen gravatar image Humpelstilzchen  ( 2021-06-03 11:04:55 -0600 )edit

yes it was all perfect

harish556 gravatar image harish556  ( 2021-06-03 12:00:18 -0600 )edit

i have made a few changes in params now it wont jump around the rviz now can you just tell me how make that arrows in rviz not move all over the screen

harish556 gravatar image harish556  ( 2021-06-03 12:35:36 -0600 )edit