Dear all,
I am using DWA to drive a differential robot around. I am running Ubuntu 12.04 and ROS Hydro.
In general, the robot navigates well. However, sometimes when I send it to tight spots, I receive the following warnings:
[ WARN] [1435079055.081046415]: Invalid Trajectory 0.000000, 0.000000, 0.822608, cost: -1.000000
[ WARN] [1435079056.578828210]: Invalid Trajectory 0.000000, 0.000000, 0.931650, cost: -1.000000
[ WARN] [1435079058.079198312]: Invalid Trajectory 0.000000, 0.000000, 0.850638, cost: -1.000000
[ WARN] [1435079058.580604641]: Invalid Trajectory 0.000000, 0.000000, 1.000000, cost: -1.000000
[ WARN] [1435079060.483851910]: Invalid Trajectory 0.000000, 0.000000, 0.400000, cost: -1.000000
While receiving these warnings, the robot stands still, and eventually starts doing recovery behaviors, aborting most of the time afterwards.
My questions:
- What is causing these invalid trajectories with cost: -1?
- How can I avoid them?
Below, my "base_local_planner_params.yaml" file:
TrajectoryPlannerROS:
max_vel_x: 0.8
min_vel_x: 0.2
max_vel_y: 0.0
min_vel_y: 0.0
max_vel_theta: 2.0
min_vel_theta: -2.0
min_in_place_vel_theta : 0.65
escape_vel: -0.1
acc_lim_theta: 3.2
acc_lim_x: 2.5
acc_lim_y: 0.0
holonomic_robot: false
sim_time: 1.5
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 5
vy_samples: 0
vtheta_samples: 20
meter_scoring: false
yaw_goal_tolerance: 0.2
xy_goal_tolerance: 0.25
latch_xy_goal_tolerance: false
gdist_scale: 0.5
pdist_scale: 0.7
occdist_scale: 0.02
dwa: true
Here is a video of the robot's behavior:
https://youtu.be/Y-zro-sXO-o
Let me know if further details are necessary.
Thanks in advance!
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