Comments (9)
@andrew8liang Please avoid cross-posting if possible. I usually get notifications for both platforms ;-)
I have answered your question at ROS answers.
In general, questions regarding the planner should be asked at ROS answers.
Bug reports, Pull requests and enhancement requests here.
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I just discovered a magic parameter that makes wonders for me: penalty_epsilon
With default (0.1):
With 0.05:
@croesmann, would be great if you can provide some clue about how this parameter so greatly impacts the behavior of the robot
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The error message "trajectory is not feasible" indicates that it seems like the robot-costmap-footprint (blue rectangular, defined in the costmap param file) collides with some of the lethal-obstacles cellls slightly at some point on the trajectory.
I am going to revise the planner completely in the next three weeks since I hadn't much resources during the last weeks to investigate the recently reported issues. I'll check this one as well.
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Dear Chris,
Please also investigate why TEB do not prefer a robot to move backward in straight line as one of the option. In narrow path ways, TEB ignores this option.
Also, I have observed that TEB oscillates between local goal points as selected from the global plan.
Thanks
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I pushed some significant changes to kinetic-devel (see changelog of version 0.6.5). I revised some parts of the code regarding parameter checking, backwards-initialization and backup strategies.
Please let me know if the proposed changes resolve some of your issues.
The kinetic-devel branch might also be compiled with indigo/jade.
I want to test the changes for a couple of weeks before I officially backport the important changes to indigo-devel/jade-devel.
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Hi, I also have the same question about moving the robot backward in a straight line on 0.6.5
.
The expected behavior is: drive backwards. The actual behavior is: initially drive backwards, then rotate 180 degrees to drive forward until we are close to the final goal, then rotate another 180 degrees so that we are facing the correct direction. This gives us 360 degrees of unnecessary rotation. Is it possible to have the planner put equal weight on forward and backward motion?
My parameters, on 0.6.5:
allow_init_with_backwards_motion: true
, weight_kinematics_forward_drive: 0
Thanks!
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Hello,
I'm having a similar issue with the robot getting stuck trying to go through a door.
Are there some parameters which I can adjust to manage this?
Thanks
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@DPatricia Were you able to figure out a solution for your problem? I have a similar issue. I have a car-like robot (width 0.3 m). No matter how I tune my minimum obstacle distance and inflation radius, it has a difficulty in entering a narrow door which is 1 m wide.
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I just discovered a magic parameter that makes wonders for me: penalty_epsilon With default (0.1): With 0.05:
@croesmann, would be great if you can provide some clue about how this parameter so greatly impacts the behavior of the robot
Could you share the COMMON, LOCAL, GLOBAL and TEB configuration files? Or just the GitHub Link?
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Related Issues (20)
- polygon robot
- trajectory diverged and robot slightly moving forward when resetting planner
- Custom via points are not transformed to correct frame (shifted by map->odom)
- Potential vulnerability: topic names from ROS parameters HOT 1
- teb launchfile (ros2 foxy) not working in nav2
- A goal checker is needed in teb_params.yaml of Galactic
- The result of TEB calculation is very abnormal? HOT 4
- I think something is wrong with penaltyBoundToInterval and penaltyBoundToIntervalDerivative
- TEB for articulated center steering
- Compile time error in teb_local_planner/teb_local_planner/src/optimal_planner.cpp
- teb_local_planner drifts near the goal
- 360 degree local plan
- deltaT initialization has huge impact on forward or reverse motion
- undefined reference to `int boost::math::sign<double>(double const&)' HOT 1
- How to deal with slow steering system on vehicle?
- Error when compiling TEB Local Planner with ROS2 Galactic on Ubuntu 20.04 HOT 1
- When I run test_optim_node.launch, the following warning keeps appearing under the Marker in rviz
- looping around dynamic obstacles (when `enable_homotopy_class_planning` is `false`)
- Support for AGV with Rotatable Front and Rear Wheels Similar to Ackermann Steering
- 不会进行避障
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