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Nav2 robot jerks frequently on random occasions

asked 2022-08-12 02:52:46 -0600

MrOCW gravatar image

updated 2022-08-12 06:44:31 -0600

Hi,

I have tried DWB and RPP controllers but my robot vibrates & jerks very intensely. plotting the cmd_vel shows the linear x jumping between +0.5 and -0.xx. My CPU load on a Jetson Xavier AGX is quite low during navigation.

Any suggestions to fix this issue? I am wondering if velocity_smoother is able to fix this issue but there are no humble binaries for velocity_smoother and i'd prefer not to build the whole nav2 from source.

controller_server:
  ros__parameters:
    odom_topic: odometry/local
    use_sim_time: false
    controller_frequency: 10.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.15
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: -0.1
      min_vel_y: 0.0
      max_vel_x: 0.5
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: 0.0
      max_speed_xy: 0.4
      min_speed_theta: 0.0
      acc_lim_x: 0.2
      acc_lim_y: 0.0
      acc_lim_theta: 0.1
      decel_lim_x: -0.1
      decel_lim_y: 0.0
      decel_lim_theta: -0.1
      vx_samples: 20
      vy_samples: 5
      vtheta_samples: 20
      sim_time: 1.7
      linear_granularity: 1.5
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 2.0
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 12.0 #0.02
      PathAlign.scale: 32.0
      GoalAlign.scale: 0.0
      PathAlign.forward_point_distance: 1.0
      GoalAlign.forward_point_distance: 01.0
      PathDist.scale: 32.0
      GoalDist.scale: 6.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0
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1 Answer

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answered 2022-08-16 03:51:33 -0600

updated 2022-08-16 03:52:08 -0600

I should be able to do a Humble sync in the next week. I’m coming back from PTO tomorrow and its on my queue after making sure no critical issues were filed while I was gone.

Wrt the core issue, its hard to tell why that might be happening. I’d need much more detailed information. That should not be happening.

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Asked: 2022-08-12 02:52:46 -0600

Seen: 43 times

Last updated: Aug 16