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mit-acl / faster

3D Trajectory Planner in Unknown Environments
BSD 3-Clause "New" or "Revised" License
943 stars 179 forks source link

I used faster on the ground robot, but the replanning process always failed #9

Open Nianan0505 opened 4 years ago

Nianan0505 commented 4 years ago

Hi, I want to use FASTER on the ground robot. And I run the "roslaunches" according to the exact procedure. When I first click the "start" and give the goal by "2D Nave Goal", it runs well and reached the destination. But for the next goal, it always fails and the car is swaying in the simulation environment.

Do you know the possible causes of this problem? Thanks a lot. What's more, I'd like to know how the car knows its exact real-time position. Thanks again!

jtorde commented 3 years ago

Hi @Nianan0505!

Yes, you are right. I think changing the hand-coded parameters of this file (probably the values in this line or this one) will probably solve this issue.

Feel free to do a pull request if you are able to solve it

codespring-lh commented 3 years ago

Hi, I want to use FASTER on the ground robot. And I run the "roslaunches" according to the exact procedure. When I first click the "start" and give the goal by "2D Nave Goal", it runs well and reached the destination. But for the next goal, it always fails and the car is swaying in the simulation environment.

Do you know the possible causes of this problem? Thanks a lot. What's more, I'd like to know how the car knows its exact real-time position. Thanks again!

Hi,I met the same problem,have you solved it?

codespring-lh commented 3 years ago

Hi @Nianan0505!

Yes, you are right. I think changing the hand-coded parameters of this file (probably the values in this line or this one) will probably solve this issue.

Feel free to do a pull request if you are able to solve it

Hi,I have done some experiments using Faster in the real world and it did works but when i set the next goal the car can't move.So,I want to know how to modify these hand-coded parameters of goal_odom_to_cmd_vel_state.py,increase them or decrease them?Hope for your reply.

jamiie1999 commented 1 year ago

Hi @Nianan0505! Yes, you are right. I think changing the hand-coded parameters of this file (probably the values in this line or this one) will probably solve this issue. Feel free to do a pull request if you are able to solve it

Hi,I have done some experiments using Faster in the real world and it did works but when i set the next goal the car can't move.So,I want to know how to modify these hand-coded parameters of goal_odom_to_cmd_vel_state.py,increase them or decrease them?Hope for your reply.

hello,i am also having some problems,have you solved?