hello. my robot move straight but on rotational path robot can not follow path. wich ı need to change parameters ?
my standart robot speed : 0.25 m/sn
lidar : 40hz 10m
this my problem video : https://www.youtube.com/watch?v=R-FiE6LBMEI
planner_frequency: 0 # Global plan updates on new goal or path blocked only
controller_frequency: 4.0 #10
planner_patience: 5.0
controller_patience: 3.0
conservative_reset_dist: 2.0
recovery_behavior_enabled: true
clearing_rotation_allowed: true
shutdown_costmaps: false
oscillation_timeout: 0.0
oscillation_distance: 0.5
# http://www.ros.org/wiki/navfn
NavfnROS:
allow_unknown: true
planner_window_x: 0.0
planner_window_y: 0.0
default_tolerance: 0.1
visualize_potential: true
planner_costmap_publish_frequency: 0.5
# http://www.ros.org/wiki/base_local_planner
TrajectoryPlannerROS:
# Robot Configuration Parameters
acc_lim_x: 10.0 #0.05
acc_lim_y: 4.0 #0.05
acc_lim_th: 3.0 #0.08
max_vel_x: 0.25 #0.4
min_vel_x: 0.25
max_rotational_vel: 1.5 #0.3
min_in_place_rotational_vel: 0.05
escape_vel: -0.2
holonomic_robot: false
max_vel_theta: 1.5
# The following parameters are only used if holonomic_robot is set to true:
y_vels: [-0.3, -0.1, 0.1, 0.3]
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.20 #0.10
xy_goal_tolerance: 0.20 #0.10
latch_xy_goal_tolerance: true
# Forward Simulation Parameters
sim_time: 3.0 #4.0
sim_granularity: 0.025 #0.25
angular_sim_granularity: 0.02 #0.05
vx_samples: 6
vtheta_samples: 20
# controller_frequency: 20 # set above
# Trajectory Scoring Parameters
meter_scoring: true
path_distance_bias: 0.6
goal_distance_bias: 0.8
occdist_scale: 0.1
heading_lookahead: 0.325
heading_scoring: true
heading_scoring_timestep: 0.8
dwa: true
publish_cost_grid_pc: false
global_frame_id: /odom_combined
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.1
# Global Plan Parameters
prune_plan: true
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