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Tuning Navigation

What parameter in the navigation package controls the arc or straightness of a path? Currently it creates an undesired curve or arc to reach a goal. Looking to make straight lined paths towards a goal.

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Asked by mars_rover on 2021-07-20 18:50:48 UTC

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This could depend heavily on the local controller used as part of your navigation setup. Which controller / local planner are you using?

Asked by r0gi on 2021-07-25 16:43:13 UTC

I am using dwa

Asked by mars_rover on 2021-07-25 22:48:55 UTC

Sorry, @mars_rover, where did you choose between de dwa or others?

Asked by Ronro on 2021-09-08 15:59:38 UTC

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This could help link text

Asked by Nitesh_j on 2021-09-07 01:50:58 UTC

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I think You can try changing the following parameters.

Adjust path_distance_bias, goal_distance_bias, and occdist_scale. In particular, it is recommended to increase the path_distance_bias.

Make acc_lim_th smaller. It will reduce the possibility of selecting a curve. Note that this will also reduce the selection of curves under normal conditions.

ref: http://wiki.ros.org/dwa_local_planner

Asked by miura on 2021-09-07 18:22:01 UTC

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