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What's the difference between melodic and kinetic on navigation stack

Hi,

First, I deploy kinetic to a real differential vehicle, and the performance is satisfying. And because kinetic is about to reach its end of maintance, so I upgrade kinetic to melodic, and think that the performance in melodic should be better. But in reality, I find the performance of melodic is worse than kinetic with the same parameters and map. For example, every time I give a goal in rviz, the kinetic vehicle will reach the goal with no hesitation. But with melodic, when the vehicle is near the goal, it'll always clear the costmap first and if this not working, it will launch rotation recovery, after serveral rotations, the vehicle finally reached the goal. So I was wondering if there is some difference between melodic and kinetic on navigation stack, so that the parameters should be tuned seperately?


Here are some parameters I use:

amcl:

<node pkg="amcl" type="amcl" name="amcl">
<param name="use_map_topic"             value="$(arg use_map_topic)"/>
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type"           value="diff"/>
<param name="odom_alpha5"               value="0.1"/>
<param name="gui_publish_rate"          value="10.0"/>
<param name="laser_max_beams"             value="720"/>
<param name="laser_max_range"           value="30"/>
<param name="min_particles"             value="300"/>
<param name="max_particles"             value="2000"/>
<param name="kld_err"                   value="0.05"/>
<param name="kld_z"                     value="0.99"/>
<param name="odom_alpha1"               value="0.2"/>
<param name="odom_alpha2"               value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3"               value="0.2"/>
<param name="odom_alpha4"               value="0.2"/>
<param name="laser_z_hit"               value="0.95"/>
<param name="laser_z_short"             value="0.05"/>
<param name="laser_z_max"               value="0.05"/>
<param name="laser_z_rand"              value="0.05"/>
<param name="laser_sigma_hit"           value="0.2"/>
<param name="laser_lambda_short"        value="0.1"/>
<param name="laser_model_type"          value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d"              value="0.1"/>
<param name="update_min_a"              value="0.2"/>
<param name="odom_frame_id"             value="$(arg odom_frame_id)"/> 
<param name="base_frame_id"             value="$(arg base_frame_id)"/> 
<param name="global_frame_id"           value="$(arg global_frame_id)"/>
<param name="resample_interval"         value="1"/>
<!-- Increase tolerance because the computer can get quite busy -->
<param name="transform_tolerance"       value="1.0"/>
<param name="recovery_alpha_slow"       value="0.0"/>
<param name="recovery_alpha_fast"       value="0.0"/>
<param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
<param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
<param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
<remap from="scan"                      to="$(arg scan_topic)"/>

</node>

Move base:

shutdown_costmaps: false
controller_frequency: 10.0
controller_patience: 3.0
planner_frequency: 1.0
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
# local planner - default is trajectory rollout
base_local_planner: "base_local_planner/TrajectoryPlannerROS" #DWAPlannerROS
base_global_planner: "navfn/NavfnROS"

local planner:

TrajectoryPlannerROS:
#Independent settings for the local costmap
transform_tolerance: 1.0
sim_time: 2.0
sim_granularity: 0.025
dwa: true
vx_samples: 5
vtheta_samples: 20
escape_vel: -0.0
max_vel_x: 0.5
min_vel_x: 0.1
max_rotational_vel: 0.8
min_in_place_rotational_vel: 0.4
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.1
goal_distance_bias: 0.2 #0.2
path_distance_bias: 20  #20
occdist_scale: 0.01 #0.01
heading_lookahead: 0.325
oscillation_reset_dist: 0.05
holonomic_robot: false
acc_lim_th: 0.3 #3.2
acc_lim_x: 0.5 #2.5
acc_lim_y: 0.0
heading_scoring: false
heading_scoring_timestep: 0.3 #0.8
holonomic_robot: false
simple_attractor: false
meter_scoring: true #false
pdist_scale: 0.6 #0.6
gdist_scale: 0.8 #0.8

global planner:

NavfnROS:
visualize_potential: false    
allow_unknown: true                            
planner_window_x: 0.0         
planner_window_y: 0.0         
default_tolerance: 0.0

Hope someone familiar with this can help me out, Thanks for advance.