teb_local_planner goes crazy and drives against walls

Hi guys, I'm trying to implement the teb local planner from a successful simulation to a turtlebot3, but the planner goes crazy. He drives around on very off paths all the sudden and drives in the opposite direction of the goal and into walls. I think it could be my small map of my room and the other cost map parameters etc..

But I'm relatively new to the planner and don't really know what parameters could be the issue or what in general could be the issue.

I can add the specific parameter files, if someone has a theory on what it could be, but for now I don't really want to fill this post up with a lot of potentially useless code.

So if someone could help me here I would greatly appreciate it! :) Thanks!

Asked by sudo-Boris on 2021-06-24 06:04:11 UTC

Comments

My initial thought would be an issue with your localization. How does your robot know where it is? You could, for example, have an IMU reversed so the values increase when they should decrease, have a sensor in the wrong spot so your tf transforms are wrong, your real sensor covariances are much different than your simulated streams, etc. Without more info of your setup, it's impractical to surmise where the issue is.

Basically, think what is different between your simulated and real world set ups. If your teb parameters produced an accurate path in sim, I wouldn't think they're the (biggest) culprit for what you're seeing, since the planner is agnostic of where the costmaps come from

Asked by chives_onion on 2021-06-24 09:27:35 UTC

so I've startet my simulation (flatland) with my room as my map with teb. Here the same happened, he went of track and got stuck in some wall. Then I started the simulation with a much larger map and he could navigate to the goal. Even there he has issues with finishing in the goal, he moved around it and tried. Here both, the large map and my smaller map led to warnings that the map update loop and control loop were missed. Then I remapped the goal to a close position and he got there with no issue and no more warning (on large map). So I guess my smaller room is making problems.

Asked by sudo-Boris on 2021-06-24 09:45:37 UTC

Could you provide some video footage? Show the local costmap and the global path.

Asked by bob-ROS on 2021-06-24 15:16:31 UTC

Hi I think this should work: https://photos.app.goo.gl/6JAXMksssqUWrGTKA

Asked by sudo-Boris on 2021-06-25 06:30:44 UTC

Hi i have the same problem . can you solve this ?

Asked by phurikorn on 2022-07-15 06:16:33 UTC

Answers

This is quite late, but according to the video (bottom left terminal), teb local planner is taking 2-3 seconds in order to solve one time step. And the velocity from the video seems pretty high as well. I am not sure what the desired controller frequency you want the robot to be.

Teb taking 2 seconds to solve means that your robot will follow that solution for a whole 2 seconds before teb realizes the robot has drifted outside of its path and try to correct it again. In this time, the robot probably has already hit the wall.

Asked by sean112 on 2023-01-12 21:50:45 UTC