Neobotix navigation rotation behavior [closed]
I am trying to get the Neobotix LP-655 platform (not omni-directional) to move to a goal in rviz. The global plan seems to go directly to the goal location. I would expect a curved plan, as the platform only can rotate and not move sideways. Furthermore it does not create a new plan if there is something unknown obstacle blocking the path. Instead it just rotates in front of the obstacle!
The platform sometime manage to go to the desired goal, but it shakes a lot, and it often rotate before moving towards the goal and when it is very close to the goal. I have uploaded two videos of this behavior:
http://www.youtube.com/user/VT3AAU2011?feature=mhee
I have tested my odomotry using this guide: http://ros.org/wiki/navigation/Troubleshooting
and the scans seems pretty good.
Because I am a new use to the site, I cannot upload my config files, so I am sorry that I have to post them here:
*_costmap_common.yaml
obstacle_range: 12.5
raytrace_range: 30.0
footprint: [[0.50,0.45],[0.50,-0.45],[-0.50,-0.45],[-0.50,0.45]]
inflation_radius: 0.55
observation_sources: laser_scanner
laser_scanner: {sensor_frame: /base_link, expected_update_rate: 0.0, observation_persistence: 0.0, data_type: LaserScan, topic: scan, marking: true, clearing: true}
*_costmap_global.yaml
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 1.0
static_map: true
rolling_window: false
transform_tolerance: 2.5
cost_scaling_factor: 10.0
unknown_cost_value: 0
publish_voxel_map: false
lethal_cost_threshold: 100
map_topic: map
*costmap_local.yaml
local_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 1.0
publish_frequency: 0.0
static_map: false
rolling_window: true
width: 20.0
height: 20.0
resolution: 0.1
transform_tolerance: 2.5
origin_x: 0.0
origin_y: 0.0
map_type: costmap
track_unknown_space: false
*planner_local.yaml
TrajectoryPlannerROS:
max_vel_x: 0.35
min_vel_x: 0.001
max_rotational_vel: 0.3
min_in_place_rotational_vel: 0.001
escape_vel: -0.1
acc_lim_th: 0.05
acc_lim_x: 0.05
acc_lim_y: 0.
holonomic_robot: false
path_distance_bias: 0.6
goal_distance_bias: 0.8
occdist_scale: 0.01
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
sim_time: 3.0
sim_granularity: 0.025
dwa: false
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
latch_xy_goal_tolerance: true
If I set e.g. the resolution of the map to 0.05, my CPU has not got enough power to calculate the path and it misses its desired loop. Could this be a problem? Or that my update_frequency is set to only 1.0?
I dont know what to do, to get the platform to navigate smoothly to a goal without any shaking or rotating?
/Christian