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utexas-bwi / eband_local_planner

ROS Local planner based on the eband approach. Based on the original implementation by Christian Connette and Bhaskara Marathi. This local planner has been adapted primarily for differential drive robots, but still supports the original holonomic drive controls.
http://wiki.ros.org/eband_local_planner
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How to increase the robot's velocity #27

Open yumingdong opened 6 years ago

yumingdong commented 6 years ago

I use the eband_local_planner as the base_local_planner for my four mecanum wheels base, and the eband_local_planner_params is as follows:

EBandPlannerROS:
    xy_goal_tolerance: 0.03
    yaw_goal_tolerance: 0.05
    rot_stopped_vel: 0.01
    trans_stopped_vel: 0.01
    marker_lifetime: 0.5
    eband_min_relative_overlap: 0.7
    eband_tiny_bubble_distance: 0.01
    eband_tiny_bubble_expansion: 0.01
    eband_internal_force_gain: 1.0
    eband_external_force_gain: 2.0
    num_iterations_eband_optimization: 3
    eband_equilibrium_approx_max_recursion_depth: 4
    eband_equilibrium_relative_overshoot: 0.75
    eband_significant_force_lower_bound: 0.15
    costmap_weight: 10.0

    max_vel_lin: 0.8
    max_vel_th: 0.6
    min_vel_lin: 0.1
    min_vel_th: 0.0
    min_in_place_vel_th: 0.2
    in_place_trans_vel: 0.0
    k_prop: 4.0
    k_damp: 3.5
    Ctrl_Rate: 10.0
    max_acceleration: 1.0
    virtual_mass: 0.75
    max_translational_acceleration: 1.0
    max_rotational_acceleration: 1.2
    rotation_correction_threshold: 0.5
    differential_drive: false
    bubble_velocity_multiplier: 2.0
    rotation_threshold_multiplier: 1.0
    disallow_hysteresis: false

From the above configure parameters, I have set the max_vel_lin is 0.8 m/s . But in the test, I have found that the robot's max_speed is only 0.43m/s. I have tune some parameters: k_drop, k_damp, eband_tiny_bubble_distance, etc. I have increase and decrease such parameters, but the robot's max_speed is also about 0.43 m/s. I don't know how to tune which parameters to increase the robot's speed. By the way , I use dwa_local_planner the robot's max_speed can meet the requirements.

predoli commented 6 years ago

@yumingdong I also use eband_local_planner with mecanum wheels. I could reproduce your issue. @yumingdong do you get Y-linear speed commands form the local_planner to use the sideways motion capabilities? That also doesn't work in my setup (even when i use your parameters) Waht global_planner do you use?

yumingdong commented 6 years ago

Yes，the robot seldom set the Y-linear speed until the robot adhere to the goal. I have use the navfn planner as the global_planner(the default planner of base_global_planner).Could you instruct me how to config such parameters to move my robot like the video of https://www.youtube.com/watch?v=KJgHAhJxUr0 Thank you very much !