Hi all,
things work perfectly when the robot goes straight, turning, or making wide U turns. However, I'm facing an issue that the robot stuck at certain location when its trying to make narrow U turn as shown in this [video](https://www.youtube.com/watch?v=dVbUG0zQvYA&feature=youtu.be).
Below is my dwa_local_planner parameters.
planner_frequency: 0.25
controller_frequency: 10.0
DWAPlannerROS:
max_trans_vel: 0.25
min_trans_vel: 0.05
max_vel_x: 0.25
min_vel_x: -0.05
max_rot_vel: 0.6
min_rot_vel: 0.2
acc_lim_x: 2.5
acc_lim_theta: 6.0
occdist_scale: 0.01
oscillation_reset_dist: 0.05
oscillation_reset_angle: 0.2
path_distance_bias: 60
sim_time: 2.0
sim_granularity: 0.1
angular_sim_granularity: 0.1
vx_samples: 3
vy_samples: 1 # zero for a differential drive robot
vtheta_samples: 20
dwa: true
Did anyone face the same issue i'm facing? If so, can you explain what is happening?
Thanks a lot, Will
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