Open subodh-malgonde opened 5 years ago
Hi, I have the same problem, teb starts to operate at 0.2Hz instead of ~20 and robot stops while driving. Have you found any solution?
Hi, have you solved the problem ? I tried to increase the penalty_epsilion so that it is equal or little bit bigger than the acc_lim_x and it worked. In my case, penalty_epsilon: 0.3 and max_lim_x: 0.3. But I received the warning so I think it is not the optimal solution.
I found that this might be connected to computation power. Thank you for reply I will try this
I've checked with more cpu-s and the same problem. Setting penalty_epsilon also didn't solve the issue
Have you tried to reduce the acceleration of x-axis to the value being smaller than penalty_epsilon ? I set all the accelerations so that they are little bit smaller than the penalty value and it worked.
It also didn't work. Actually my case might be a little different, a robot has software stop when no cmd_vel for longer than 1s, when the robot is driving then the planner frequency drops and perform one loop for 2-8s which looks like it's stopping. In simulation I've discovered that it actually not stopping.
I have a car-like robot. It stops very frequently even when there are no obstacles around and the path is straight. See the below video to visualize this stuttering behaviour.
Click on the image to play the video. Redirects to YouTube![Car like robot oscillating](https://img.youtube.com/vi/yHJ-vfK1dmQ/0.jpg)
I have set the move_base
controller_frequency
to 10 Hz. I have also setenable_homotopy_class_planning
to False, so that it consumes less processing power. These are my params: