jjKeyLite
commented
4 years ago why enable_homotopy_class_planning:false ? If you use optimal planner,there will be only one choice, which is not reasonable if you can have more. By the way, the weights also need to be adjusted.
Here are two dt_ref related issues.（Sorry this is my first time using this feature, and my native language is not English, thank you all.） First of all, when dt_ref is 0.02, the vehicle released by teb cannot move forward normally and will be stuck in place. If it is moved by other path tracking algorithms (such as mpc), a long reverse trajectory will appear.
Here are the parameters where this happens：
TebLocalPlannerROS:
odom_topic: /odom #/odometry/filtered
Trajectory
teb_autosize: True dt_ref: 0.02 dt_hysteresis: 0.01 global_plan_overwrite_orientation: True allow_init_with_backwards_motion: False max_global_plan_lookahead_dist: 4 feasibility_check_no_poses: 0
global_plan_viapoint_sep: 1
Robot
max_vel_x: 5 max_vel_x_backwards: 0.0000000001 #0.2 max_vel_y: 0 max_vel_theta: 3 #0.3 # the angular velocity is also bounded by min_turning_radius in case of a carlike robot (r = v / omega) acc_lim_x: 30 acc_lim_y: 0 acc_lim_theta: 20
** Carlike robot parameters ****
min_turning_radius: 0.73 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually) wheelbase: 0.34 # Wheelbase of our robot cmd_angle_instead_rotvel: True # stage simulator takes the angle instead of the rotvel as input (twist message)
****
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon" type: "line" radius: 0.2 # for type "circular" line_start: [0.0, 0.0] # for type "line" line_end: [0.34, 0.0] # for type "line" front_offset: 0.2 # for type "two_circles" front_radius: 0.2 # for type "two_circles" rear_offset: 0.2 # for type "two_circles" rear_radius: 0.2 # for type "two_circles" vertices: [ [-0.075,-0.17], [0.415,-0.17], [0.415,0.17], [-0.075,0.17] ]# for type "polygon"
is_footprint_dynamic: True
obstacle_association_force_inclusion_factor: 5
legacy_obstacle_association: True
switching_blocking_period: 10
GoalTolerance
xy_goal_tolerance: 0.5 yaw_goal_tolerance: 3 free_goal_vel: False
Obstacles
inflation_dist: 0.5 weight_inflation: 10 min_obstacle_dist: 0.27 #0.27 # This value must also include our robot's expansion, since footprint_model is set to "line". include_costmap_obstacles: True costmap_obstacles_behind_robot_dist: 1.0 obstacle_poses_affected: 60
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 20
Optimization
no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True optimization_verbose: False penalty_epsilon: 0.0000000001 #0.1 weight_max_vel_x: 10000000 weight_max_vel_theta: 1 weight_acc_lim_x: 1 weight_acc_lim_theta: 1 weight_kinematics_nh: 1000 weight_kinematics_forward_drive: 1000 weight_kinematics_turning_radius: 1 weight_optimaltime: 5 #nice!!! weight_obstacle: 1000 weight_dynamic_obstacle: 10 # not in use yet
weight_viapoint: 2
Homotopy Class Planner
enable_homotopy_class_planning: False enable_multithreading: True simple_exploration: False max_number_classes: 2 selection_cost_hysteresis: 1.0 selection_obst_cost_scale: 1.0 selection_alternative_time_cost: False roadmap_graph_no_samples: 15 roadmap_graph_area_width: 5 h_signature_prescaler: 0.5 h_signature_threshold: 0.1 obstacle_keypoint_offset: 0.1 obstacle_heading_threshold: 0.45 visualize_hc_graph: False
force_reinit_new_goal_dist: 1
The second problem is that when dt_ref is 0.1, if the speed is set to 5m / s, the planned path will sometimes pass through obstacles, and the curve will become like a polyline.However, after a period of time, it will stretch back to the path that does not pass through the obstacle, but this period is too long.
Here are the parameters where this happens：
TebLocalPlannerROS:
odom_topic: /odom #/odometry/filtered
Trajectory
teb_autosize: True dt_ref: 0.1 dt_hysteresis: 0.01 global_plan_overwrite_orientation: True allow_init_with_backwards_motion: False max_global_plan_lookahead_dist: 4 feasibility_check_no_poses: 0
global_plan_viapoint_sep: 1
Robot
max_vel_x: 5 max_vel_x_backwards: 0.0000000001 #0.2 max_vel_y: 0 max_vel_theta: 3 #0.3 # the angular velocity is also bounded by min_turning_radius in case of a carlike robot (r = v / omega) acc_lim_x: 30 acc_lim_y: 0 acc_lim_theta: 20
** Carlike robot parameters ****
min_turning_radius: 0.73 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually) wheelbase: 0.34 # Wheelbase of our robot cmd_angle_instead_rotvel: True # stage simulator takes the angle instead of the rotvel as input (twist message)
****
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon" type: "line" radius: 0.2 # for type "circular" line_start: [0.0, 0.0] # for type "line" line_end: [0.34, 0.0] # for type "line" front_offset: 0.2 # for type "two_circles" front_radius: 0.2 # for type "two_circles" rear_offset: 0.2 # for type "two_circles" rear_radius: 0.2 # for type "two_circles" vertices: [ [-0.075,-0.17], [0.415,-0.17], [0.415,0.17], [-0.075,0.17] ]# for type "polygon"
is_footprint_dynamic: True
obstacle_association_force_inclusion_factor: 5
legacy_obstacle_association: True
switching_blocking_period: 10
GoalTolerance
xy_goal_tolerance: 0.5 yaw_goal_tolerance: 3 free_goal_vel: False
Obstacles
inflation_dist: 0.5 weight_inflation: 10 min_obstacle_dist: 0.27 #0.27 # This value must also include our robot's expansion, since footprint_model is set to "line". include_costmap_obstacles: True costmap_obstacles_behind_robot_dist: 1.0 obstacle_poses_affected: 60
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 20
Optimization
no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True optimization_verbose: False penalty_epsilon: 0.0000000001 #0.1 weight_max_vel_x: 10000000 weight_max_vel_theta: 1 weight_acc_lim_x: 1 weight_acc_lim_theta: 1 weight_kinematics_nh: 1000 weight_kinematics_forward_drive: 1000 weight_kinematics_turning_radius: 1 weight_optimaltime: 5 #nice!!! weight_obstacle: 1000 weight_dynamic_obstacle: 10 # not in use yet
weight_viapoint: 2
Homotopy Class Planner
enable_homotopy_class_planning: False enable_multithreading: True simple_exploration: False max_number_classes: 2 selection_cost_hysteresis: 1.0 selection_obst_cost_scale: 1.0 selection_alternative_time_cost: False roadmap_graph_no_samples: 15 roadmap_graph_area_width: 5 h_signature_prescaler: 0.5 h_signature_threshold: 0.1 obstacle_keypoint_offset: 0.1 obstacle_heading_threshold: 0.45 visualize_hc_graph: False
force_reinit_new_goal_dist: 1