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Tuning Navigation

asked 2021-07-20 18:50:48 -0500

mars_rover gravatar image

updated 2022-02-20 18:51:18 -0500

lucasw gravatar image

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

r0gi gravatar image r0gi  ( 2021-07-25 16:43:13 -0500 )edit

I am using dwa

mars_rover gravatar image mars_rover  ( 2021-07-25 22:48:55 -0500 )edit

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

Ronro gravatar image Ronro  ( 2021-09-08 15:59:38 -0500 )edit

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answered 2021-09-07 18:22:01 -0500

miura gravatar image

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

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answered 2021-09-07 01:50:58 -0500

Nitesh_j gravatar image

This could help link text

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Asked: 2021-07-20 18:50:48 -0500

Seen: 164 times

Last updated: Sep 07 '21