The car rotates all the time, no candidate path is displayed.

amslabtech / dwa_planner

ROS implementation of DWA(Dynamic Window Approach) Planner

https://amslabtech.github.io/dwa_planner/

BSD 3-Clause "New" or "Revised" License

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The car rotates all the time, no candidate path is displayed. #6

Closed guo-zixuan closed 4 years ago

guo-zixuan commented 4 years ago

The car rotates all the time,while no candidate path is displayed,after I give a local_goal.Need I fix some param or other operation?

Jumpei-Arima commented 4 years ago

Please check the following items

Broadcast the positional relationship between the local goal frame and the robot frame.
Match each parameter to the parameter of the robot you are using.
Please adjust the dwa parameter by looking at the output cost result.

guo-zixuan commented 4 years ago

Thank you for your reply! I have solved the above problem.

And may I give it a dynmaics target_velocity as your gif？ Now I just set target_velocity as a Constant value,however,robot can't stop when it reach loacl goal .

UyaSong commented 4 years ago

@Jumpei-Arima @guo-zixuan Hi all, I have met the same problem as this issue. I have tried the solutions above but the robot still rotates all the time. I think the tf broadcast may be the key point of this problem but it doesn't work in my way. Would you please show me the way you solve it?

Jumpei-Arima commented 4 years ago

And may I give it a dynmaics target_velocity as your gif？ Now I just set target_velocity as a Constant value,however,robot can't stop when it reach loacl goal .

@guo-zixuan I changed it to stop when the robot reaches the local goal, so please check. (#8)

Jumpei-Arima commented 4 years ago

@Jumpei-Arima @guo-zixuan Hi all, I have met the same problem as this issue. I have tried the solutions above but the robot still rotates all the time. I think the tf broadcast may be the key point of this problem but it doesn't work in my way. Would you please show me the way you solve it?

@UyaSong Other than the above solution, it is possible that the robot's acceleration is low and not enough paths have been generated. Check the robot parameters in robot_param.yaml.

guo-zixuan commented 4 years ago

@UyaSong I solve this problem by updating tf between goal and car continuously. You can add it in while()

UyaSong commented 4 years ago

@Jumpei-Arima @guo-zixuan Hi all, thanks a lot. I increased the acceleration and the TO_GOAL_COST_GAIN and it worked.