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DWA Planner follows global path closely in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

If the goal point is in near of obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is its parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0
  #penalize_negative_x: false

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 # (double, default: 32.0) The weighting for how much the controller should stay close to the path it was given
  goal_distance_bias: 24.0 # (double, default: 24.0) The weighting for how much the controller should attempt to reach its local goal, also controls speed
  occdist_scale: 0.01 # The weighting for how much the controller should attempt to avoid obstacles
  forward_point_distance: 2.0 # The distance from the center point of the robot to place an additional scoring point, in meters
  stop_time_buffer: 0.2 # The amount of time that the robot must stop before a collision in order for a trajectory to be considered valid in seconds
  scaling_speed: 0.25 # The absolute value of the veolicty at which to start scaling the robot's footprint, in m/sThe absolute value of the veolicty at which to start scaling the robot's footprint, in m/s
  max_scaling_factor: 0.2 # The maximum factor to scale the robot's footprint by

  #Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05 # How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
  oscillation_reset_angle: 0.2
  prune_plan: false # Defines whether or not to eat up the plan as the robot moves along the path. If set to true, points will fall off the end of the plan once the robot moves 1 meter past them.

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

DWA Planner follows global path closely in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

If When the goal point is in near of obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is its parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0
  #penalize_negative_x: false

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 # (double, default: 32.0) The weighting for how much the controller should stay close to the path it was given
   goal_distance_bias: 24.0 # (double, default: 24.0) The weighting for how much the controller should attempt to reach its local goal, also controls speed
   occdist_scale: 0.01 # The weighting for how much the controller should attempt to avoid obstacles
   forward_point_distance: 2.0 # The distance from the center point of the robot to place an additional scoring point, in meters
   stop_time_buffer: 0.2 # The amount of time that the robot must stop before a collision in order for a trajectory to be considered valid in seconds
   scaling_speed: 0.25 # The absolute value of the veolicty at which to start scaling the robot's footprint, in m/sThe absolute value of the veolicty at which to start scaling the robot's footprint, in m/s
   max_scaling_factor: 0.2 # The maximum factor to scale the robot's footprint by
 
  #Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05 # How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
   oscillation_reset_angle: 0.2
  prune_plan: false # Defines whether or not to eat up the plan as the robot moves along the path. If set to true, points will fall off the end of the plan once the robot moves 1 meter past them.
false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

DWA Planner follows global path closely in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near of obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is its parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0
  #penalize_negative_x: false

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 2.0 
  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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too(its not about goal tolerance, struggling at far than the 0.06 ). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

DWA Planner follows global path closely in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near of obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is its parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0
  #penalize_negative_x: false

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 2.0 
  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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this this answer, now robot tries better ways but struggling at goal point's near too(its not about goal tolerance, struggling at far than the 0.06 ). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

DWA Planner follows global path closely in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near of obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is its parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0
  #penalize_negative_x: false

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 2.0 
  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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too(its not about goal tolerance, struggling at far than the 0.06 ). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, the robot hit the wall directly and stopped in first try :P I've changed path_distance_bias to 0.0, goal_distance_bias to 60.0 and now its a bit better but now, It is trying to escape infinitely with struggling with little movements at end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 2.0 
  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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

DWA Planner follows global path closely in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near of obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too(its not about goal tolerance, struggling at far than the 0.06 ). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, the robot hit the wall directly and stopped in first try :P I've changed path_distance_bias to 0.0, goal_distance_bias to 60.0 and now its a bit better but now, It is trying to escape infinitely with struggling with little movements at end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 2.0 
  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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

DWA Planner follows global path closely in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near of obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too(its not about goal tolerance, struggling at far than the 0.06 ). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 2.0 
  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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

DWA Planner follows global path closely and shortening path in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near of obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too(its not about goal tolerance, struggling at far than the 0.06 ). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 2.0 
  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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

DWA Planner follows global path closely and shortening path in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near of to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too(its not about goal tolerance, struggling at far than the 0.06 ). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 2.0 
  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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

DWA Planner follows global path closely and shortening path in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too(its not about goal tolerance, struggling at far than the 0.06). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

Here is video. How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.1 
0.0  #32.0
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 0.0 # 2.0 # 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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT3: Added video and updated some parameters.

DWA Planner follows global path closely and shortening path in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too(its too (its not about goal tolerance, struggling at far than the 0.06). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

Here is video. How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.0  #32.0
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 0.0 # 2.0 # 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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT3: Added video and updated some parameters.

DWA Planner follows global path closely and shortening path in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too (its not about goal tolerance, struggling at far than the 0.06). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

Here is video. How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.0  #32.0
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 0.0 # 2.0 # 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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT3: Added video and updated some parameters.

DWA Planner follows global path closely and shortening path in some casesis struggling at near to end of the path

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too (its not about goal tolerance, struggling at far than the 0.06). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

Here is video. How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?)configure?) (Or Are there any global planner to operate this?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.0  #32.0
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 0.0 # 2.0 # 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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT3: Added video and updated some parameters.

DWA Planner is struggling at near to end of the pathfollows global path closely and shortening path in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too (its not about goal tolerance, struggling at far than the 0.06). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

Here is video. How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?) (Or Are there any global planner to operate this?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.0  #32.0
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 0.0 # 2.0 # 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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT3: Added video and updated some parameters.

DWA Planner follows global path closely and shortening path in some casesis struggling at the near to end of the path

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too (its not about goal tolerance, struggling at far than the 0.06). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

Here is video. How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?) (Or Are there any global planner to operate this?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.0  #32.0
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 0.0 # 2.0 # 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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT3: Added video and updated some parameters.

DWA Planner is struggling at the near to end of the pathfollows global path closely and shortening path in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too (its not about goal tolerance, struggling at far than the 0.06). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

Here is video. How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?) (Or Are there any global planner to operate this?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.0  #32.0
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 0.0 # 2.0 # 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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT3: Added video and updated some parameters.

DWA Planner follows global path closely and shortening path in some cases

Hi,

I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner.

When the goal point is in near to obstacles(1), Robot tries going directly to goal, it doesn't thinks about rotating at goal point. So, It stucks(2) at the end:

[ WARN] [1455116051.009469819, 8907.527000000]: DWA planner failed to produce path.
[ WARN] [1455116051.230953083, 8907.627000000]: Rotate recovery behavior started.
[ERROR] [1455116051.231075332, 8907.627000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

Here is screenshot:

Rviz Screenshot

EDIT: I've set forward_point_distance to 0.0 and vy_samples to 0 by this answer, now robot tries better ways but struggling at goal point's near too (its not about goal tolerance, struggling at far than the 0.06). I've just updated navigation from ubuntu's repo's. I'll add screenshots after looking how the new packages works.

EDIT2: After updating navigation packages, It is trying to escape infinitely with struggling with little movements at near to end of the path, changing path_distance_bias and goal_distance_bias parameters doesn't make sense:

[ INFO] [1455190327.742058584, 6646.566000000]: Got new plan
[ INFO] [1455190327.908304049, 6646.664000000]: Got new plan
[ INFO] [1455190328.263322957, 6646.864000000]: Got new plan
[ INFO] [1455190328.617373718, 6647.064000000]: Got new plan
[ INFO] [1455190328.925895750, 6647.264000000]: Got new plan
[ INFO] [1455190329.222412376, 6647.465000000]: Got new plan

And screenshot: Struggling

Here is video. How can I configure dwa_local_planner to create 3rd screenshot's like plan? (Or Can I configure?) (Or Are there any global planner to operate this?)

Here is all parameters:

DWAPlannerROS:

  use_dwa: true
  # Robot Configuration Parameters
  acc_lim_x: 20.0
  acc_lim_y: 0.0
  acc_lim_theta: 10.0
  acc_limit_trans: 0.1

  max_trans_vel: 0.55
  min_trans_vel: 0.01 
  trans_stopped_vel: 0.01
  rot_stopped_vel: 0.01

  max_vel_x: 0.55
  min_vel_x: -0.55

  max_vel_y: 0.0
  min_vel_y: 0.0

  max_rot_vel: 1.5
  min_rot_vel: 0.02

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.03
  xy_goal_tolerance: 0.06
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0
  sim_granularity: 0.1
  vx_samples: 15
  vy_samples: 10
  vtheta_samples: 20
  controller_frequency: 10.0

  # Trajectory Scoring Parameters
  path_distance_bias: 0.0  #32.0
  goal_distance_bias: 24.0 
  occdist_scale: 0.01 
  forward_point_distance: 0.0 # 2.0 # 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: 0.2
  prune_plan: false

TrajectoryPlannerROS: # For RotateRecovery
  yaw_goal_tolerance: 0.03
  acc_lim_th: 10.0
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: -1.0

EDIT3: Added video and updated some parameters.