The move_base_flex function package cannot go to a new target point after reaching the target point?

[ju-mingyue]

Hello, when I use the move_base_flex function package, it appears that the robot cannot reach a new target point after reaching the first target point. At the same time, I added the dwa' planner to the controllers file. The running result is as follows: `controllers:

• name: dwa type: dwa_local_planner/DWAPlannerROS

• name: PathTrackingPID type: path_tracking_pid/TrackingPidLocalPlanner PathTrackingPID: holonomic_robot: false track_base_link: true estimate_pose_angle: false base_link_frame: base_link Kd_ang: 0.3 Kd_lat: 0.3 Ki_ang: 0.0 Ki_lat: 0.0 Kp_ang: 1.0 Kp_lat: 1.0 l: 2.0 feedback_ang: false feedback_lat: true feedforward_ang: false feedforward_lat: true controller_debug_enabled: true target_end_x_vel: 0.0 target_x_acc: 2.0 target_x_decc: 2.0 target_x_vel: 2.0 abs_minimum_x_vel: 0.025 max_error_x_vel: 1.0 max_yaw_vel: 2.0 max_yaw_acc: 2.0 min_turning_radius: 0.0

  use_mpc: false mpc_max_error_lat: 0.5 mpc_max_fwd_iter: 200 mpc_max_vel_optimization_iterations: 5 mpc_min_x_vel: 0.5 mpc_simulation_sample_time: 0.05

  anti_collision: true obstacle_speed_reduction: true collision_look_ahead_resolution: 1.0 # [m]

dwa: max_vel_x: 0.8 #0.5 min_vel_x: 0.0
max_vel_y: 0.0 min_vel_y: 0.0
max_vel_trans: 0.8 min_vel_trans: 0.1
trans_stopped_vel: 0.02 max_vel_theta: 0.9 #0.9 # min_vel_theta: 0.2 #0.3
theta_stopped_vel : 0.1 acc_lim_x: 1 #2.0 #1.5 #0.8 acc_lim_theta: 1 #9 #10
acc_lim_y: 0.0

meter_scoring: true
yaw_goal_tolerance: 0.1 xy_goal_tolerance: 0.15 latch_xy_goal_tolerance: false

sim_time: 1.2 #1.5
sim_granularity: 0.025 vx_samples: 10 #20
vy_samples: 0.0
vth_samples: 20 #40

path_distance_bias: 0.1 #64 #30 #64
goal_distance_bias: 40 #20 #20 #24 #0.6 #1.2 #20 occdist_scale: 0.01 #0.05 #0.1 #0.2 #0.5
forward_point_distance: 0.325 stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2

oscillation_reset_dist: 0.05 # 0.05
publish_traj_pc : true publish_cost_grid_pc: true

holonomic_robot: false

global_frame_id: odom map_frame: map

controller_frequency: 10.0 controller_max_retries: 0 `

Is this because our feature pack does not support it? Or do you need other configuration methods?

[dorezyuk]

Sorry but your question seems little to do with the move_base_flex package: move_base_flex just calls the controller you specify and if the controller fails, it cannot do much about it