Hi All,
I'm having some problems with move_base with base_local_planner and global_planner. I am using an omnidirectional robot with Mecanum wheels. For some reason, move_base prefers to move forward, only moving in reverse or strafing as a last option if the robot gets too close to an object, even if those motions would work better to reach the goal. Anyone know why that would be?
I also have another odd problem. Occasionally, when making an in-place rotation, move_base sends velocities that are higher than what I specified in the config file. It was my understanding that move_base should be limited to the max and min velocities specified. Does anyone know why it does this?
TrajectoryPlannerROS:
#Robot config parameters
acc_lim_x: 1.7
acc_lim_y: 1.7
acc_lim_th: 2.5
max_vel_x: 0.5
min_vel_x: 0.05
max_vel_theta: 0.075
min_vel_theta: -0.075
min_in_place_vel_theta: 0.05
escape_vel: -0.25
holonomic_robot: true
y_vels: [-0.5, -0.1, 0.1, 0.5]
#Goal tolerance parameters
yaw_goal_tolerance: 0.0872664626
xy_goal_tolerance: 0.1524
latch_xy_goal_tolerance: false
#forward simulation parameters
sim_time: 1.7
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 10
vtheta_samples: 20
controller_frequency: 20.0
#trajectory scoring parameters
meter_scoring: false
pdist_scale: 0.7
gdist_scale: 0.8
occdist_scale: 0.01
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
dwa: false
publish_cost_grid_pc: false
global_frame_id: /odom
#Oscillation prevention parameters
oscillation_reset_dist: 0.05
#Global plan parameters
prune_plan: true
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