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