ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
2019-05-20 01:53:50 -0500 | marked best answer | Teb Local Planner : Increasing x linear velocity Hi, I'm currently using the teb local planner for a tricycle robot and it gives good results but I would like to i Increasing the max_vel_x parameter doesn't seem to change the speed and I am having a hard time with it with all the optimization parameters. Increasing the maximum x linear velocity doesn't change anything and cmd_vel remains around 0.25/0.3 m/s maximum. I looked a bit at the the teb questions and it seems for example, that putting weight_acc_lim* to 0.0 or changing the footprint model would reduce computation time . When setting weight_acc_lim* to 0.0, the robot is not able to move anymore and the error " trajectory not feasible" appears on every goal I am trying to send. Here is my current configuration for teb local planner : TebLocalPlannerROS: odom_topic: odom map_frame: /odom # Trajectory teb_autosize: True dt_ref: 0.3 dt_hysteresis: 0.1 global_plan_overwrite_orientation: True allow_init_with_backwards_motion: False max_global_plan_lookahead_dist: 1.5 feasibility_check_no_poses: 5 # Robot max_vel_x: 0.8 max_vel_x_backwards: 0.2 max_vel_y: 0.0 max_vel_theta: 0.4 acc_lim_x: 0.15 acc_lim_y: 0.0 acc_lim_theta: 0.05 # Carlike robot parameters min_turning_radius: 0.15 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually) wheelbase: 0.864 # Wheelbase of our robot cmd_angle_instead_rotvel: True # stage simulator takes the angle instead of the rotvel as input (twist message) footprint_model: # types: "point", "circular", "two_circles", "line", "polygon" # GoalTolerance xy_goal_tolerance: 0.2 yaw_goal_tolerance: 0.2 free_goal_vel: False # Obstacles min_obstacle_dist: 0.5 include_costmap_obstacles: True costmap_obstacles_behind_robot_dist: 1 obstacle_poses_affected: 30 costmap_converter_plugin: "" costmap_converter_spin_thread: True costmap_converter_rate: 5 # Optimization no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True optimization_verbose: False penalty_epsilon: 0.05 weight_max_vel_x: 590 weight_max_vel_theta: 120 weight_acc_lim_x: 370 weight_acc_lim_theta: 200 weight_kinematics_nh: 10000 weight_kinematics_forward_drive: 1000 weight_kinematics_turning_radius: 300 weight_optimaltime: 860 weight_obstacle: 50 weight_dynamic_obstacle: 10 # not in use yet # Homotopy Class Planner enable_homotopy_class_planning: True enable_multithreading: True simple_exploration: False max_number_classes: 4 selection_cost_hysteresis: 1.0 selection_obst_cost_scale: 1.0 selection_alternative_time_cost: False roadmap_graph_no_samples: 15 roadmap_graph_area_width: 5 h_signature_prescaler: 0.5 h_signature_threshold: 0.1 obstacle_keypoint_offset: 0.1 obstacle_heading_threshold: 0.45 visualize_hc_graph: False I tried lots of combinations with rqt_recofnigure and this one gives good results except that i seems to block the linear velocity to small values. I would like to rpevent the robot from going backwards and avoid obstacles coming on its way. Is there any parameters changes that could help keep this characteristics while increasing the velocity of the robot. Thanks ! |
2019-04-16 10:32:26 -0500 | received badge | ● Taxonomist |
2018-10-25 03:29:48 -0500 | received badge | ● Nice Question (source) |
2018-01-05 00:54:59 -0500 | received badge | ● Famous Question (source) |
2017-10-27 11:26:28 -0500 | received badge | ● Notable Question (source) |
2017-10-21 02:07:49 -0500 | received badge | ● Popular Question (source) |
2017-10-20 21:03:45 -0500 | received badge | ● Student (source) |
2017-10-20 15:48:40 -0500 | asked a question | Teb Local Planner : Increasing x linear velocity Teb Local Planner : Increasing x linear velocity Hi, I'm currently using the teb local planner for a tricycle robot an |
2017-10-20 15:48:38 -0500 | asked a question | Teb Local Planner : Increasing x linear velocity Teb Local Planner : Increasing x linear velocity Hi, I'm currently using the teb local planner for a tricycle robot an |
2016-09-07 05:26:36 -0500 | received badge | ● Famous Question (source) |
2016-05-27 00:04:31 -0500 | received badge | ● Notable Question (source) |
2016-05-22 18:56:48 -0500 | received badge | ● Popular Question (source) |
2016-04-13 10:21:11 -0500 | received badge | ● Enthusiast |
2016-04-08 10:32:37 -0500 | commented question | tricycle model navigation stack issue Thank you, I went on this page yesterday and that's what I wanted to try today. |
2016-04-06 13:48:11 -0500 | asked a question | tricycle model navigation stack issue Hello, I have created a tricycle model (2 wheels+ 1 front steering wheel) driven with the "Tricycle" Ros plugins (gazebo_ros_tricycle_drive.cpp). The model seems to work and I have been able to control it with RQT with odom and cmd_vel topics, following some tutorials. I have included a Kinect in my model and it also seems to work well. However, when I try to use the navigation stack and set goal commands on Rviz, there are some issues. The tricycle robot always rotates too much - it is making some weird in-place rotations when it needs to rotate and cannot reach its goal. It can only reach it properly when going in a straight direction with no rotations. I tried to change some parameters on the Ros planner or in the plugin but evenif it improves the results a bit, the model is still not acceptable. I really don't know what to do. The recovery behaviors are put to "false" and I haven't activated the Navfn ros tool. Could it come from the fact that my robot is not a differential kind of robot ? Any help would be really appreciated. Nav.launch file : <node name="footprint_pub" pkg="rostopic" type="rostopic" args="pub /move_base/local_costmap/footprint geometry_msgs/Polygon -l -- '{points: [{x: 0.2, y: 0.15, z: 0.0}, {x: -0.2, y: 0.15, z: 0.0}, {x: -0.2, y: -0.15, z: 0.0}, {x: 0.2, y: -0.15, z: 0.0}]}'"/> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <remap from="odom" to="/odom"/> <remap from="cmd_vel" to="/cmd_vel"/> </node> Local Costmap global_frame: map robot_base_frame: vehicle_base_link update_frequency: 10.0 publish_frequency: 10.0 transform_tolerance: 1.0 # allowable time delay (in seconds) of transform data static_map: false # map changes dynamically rolling_window: true # map region moves with robot width: 4.0 height: 4.0 resolution: 0.025 origin_x: -2.0 # center map on robot base using "robot_base_frame" as reference, note that local costmap is aligned with global frame, robot MUST be centered in local cost map origin_y: -2.0 plugins: # - {name: voxel_layer, type: "costmap_2d::VoxelLayer"} obstacle_layer: observation_sources: fake_laser_scan fake_laser_scan: { } inflation_layer: Global Costmap global_frame: map robot_base_frame: vehicle_base_link update_frequency: 1 publish_frequency: 1 transform_tolerance: 1.0 # allowable time delay (in seconds) of transform data plugins: - {name: static_layer, type: "rtabmap_ros::StaticLayer"} static_layer: observation_sources: proj_map proj_map: {expected_update_rate: 3, data_type: Map, sensor_frame: /map, topic: /map} inflation_layer: inflation_radius: 0.4 Planner ROS base_global_planner: global_planner/GlobalPlanner base_local_planner: base_local_planner/TrajectoryPlannerROS planner_patience: 30.0 # time in seconds to wait for valid plan before attempting recovery behaviours controller_patience: 60.0 # time ... (more) |