How to setup the DWA Planner for holonomic drive?

asked 2022-02-21 03:05:58 -0600

sincoy gravatar image

Hello ROS developers,

I would like to navigate my robot with the dwa local planner to a certain location. For now I can drive in positive and negative x- and y-direction. But it is not possible to make a 360 degree turn in place. Is a turn in place in general possible?

My dwa local planner.yaml:

DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 1.0
  min_vel_x: -1.0

  max_vel_y: 1.0
  min_vel_y: -1.0

# The velocity when robot is moving in a straight line
  max_vel_trans:  1.0
  min_vel_trans:  0.1

  max_vel_theta: 1.5
  min_vel_theta: 1.0

  acc_lim_x: 5
  acc_lim_y: 5
  #acc_lim_trans: 5
  acc_lim_theta: 10
  holonomic_robot: true
# Goal Tolerance Parametes
  xy_goal_tolerance: 0.05
  yaw_goal_tolerance: 0.10
  latch_xy_goal_tolerance: false


# Forward Simulation Parameters
  use_dwa: true  
  sim_time: 1.0
  sim_granularity: 0.025
  angular_sim_granularity: 0.10
  vx_samples: 3
  vy_samples: 3
  vth_samples: 1
  controller_frequency: 10.0

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 24.0
  occdist_scale: 0.2
  heading_lookahead: 0.325
  forward_point_distance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05
  oscillation_reset_angle: 0.20 # 0.20
  prune_plan: false             # true
  trans_stopped_vel: 0.1        # 0.1
  theta_stopped_vel: 0.1        # 0.1

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true

Thanks in advance! I appreciate your help!

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