Closed awesomebytes closed 5 years ago
Hi,
parameter allow_init_with_backwards_motion
affects only the initialization, not the optimization result.
The optimizer is still allowed to find backward motions according to the time-optimal objective.
However, enforcing only forward motions is difficult since the optimization framework does not support hard constraints and hence small violations are still allowed.
You might read #85 and this.
You should definitely increase weight_kinematics_forward_drive
and make sure that your angular velocity and acceleration limits are properly set.
I close this issue in favor of #85.
@croesmann Thank you very much for your helpful and informing answer, it is very appreciated. Now I understand better what allow_init_with_backwards_motion
does. And thanks for the tip on weight_kinematics_forward_drive
, makes a lot of sense.
I'm finding a case where the plan very often returns a -X velocity at the start of the plan even with the option
allow_init_with_backwards_motion
set tofalse
.I added some prints on the calculated speed:
I don't want my robot to move backwards at the start (even though I'm fine with it rotating over itself)... And I don't understand why this is happening or what can I do to avoid it. Any hint would be appreciated.
My current config:
I'm running version 0.6.11 in Kinetic.