robot only executes velocity set in escape_vel paremeter and in-place rotations

asked 2022-06-03 14:04:16 -0600

bribri123 gravatar image

updated 2022-06-03 14:32:29 -0600

I have a robot running the navigation stack and after I have set the initial position in rviz and set the goal the robot will rotate for some time and execute the velocity set in the escape_vel parameter until it gets stuck or bumps into something i have tried setting the oscillation_timeout parameter in the base_local_planner to 5.0 but it has little to no effect

also getting these warnings

[ WARN] [1654284674.116926539]: Map update loop missed its desired rate of 30.0000Hz... the loop actually took 3.8550 seconds
[ WARN] [1654284678.175430810]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 4.0620 seconds

I followed this guide:



  max_vel_x: 1.00
  min_vel_x: 0.70
  max_vel_theta: 0.20
  min_vel_theta: -0.20
  min_in_place_vel_theta: 0.60
  oscillation_timeout: 5.0
  escape_vel: -0.76
  acc_lim_x: 1.7
  holonomic_robot: false
  meter_scoring: true
  xy_goal_tolerance: 0.25
  yaw_goal_tolerance: 0.35
  sim_time: 4.0
  vx_samples: 10
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Have you found any solution ?

ibrahim9 gravatar image ibrahim9  ( 2023-07-20 10:59:03 -0600 )edit