dwa local planner not following global planner

asked 2022-11-02 07:02:51 -0500

akash_Aaaaaaaaaaa gravatar image

my dwa local planner is acting crazy, when given a goal path, the global planner is giving a proper path, where the local planner is not following it properly.

and it always moving in an opoosite direction, for example, if a goal is given on left to the robot, the global path is given proper to the left. bu where the local planner moving oppostie to the global planner, where it making the robot move right.

DWAPlannerROS:

Robot Configuration Parameters

max_vel_x: 0.22 min_vel_x: -0.22

max_vel_y: 0.0 min_vel_y: 0.0

The velocity when robot is moving in a straight line

max_vel_trans: 0.22 min_vel_trans: 0.09

max_vel_theta: 2.75 min_vel_theta: 1.37

acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2

Goal Tolerance Parametes

xy_goal_tolerance: 0.05 yaw_goal_tolerance: 0.17 latch_xy_goal_tolerance: false

Forward Simulation Parameters

sim_time: 1.5 vx_samples: 20 vy_samples: 0 vth_samples: 40 controller_frequency: 10.0

Trajectory Scoring Parameters

path_distance_bias: 32.0 goal_distance_bias: 20.0 occdist_scale: 0.02 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

Debugging

publish_traj_pc : true publish_cost_grid_pc: true

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