All,
I'm working on driving a wheelchair with the navigation stack. When using the base local planner I've noticed that the path between two waypoints is not straight even if there are no obstacles between them. Also, the robot oscillates around the path, even with the path_distance_bias set very high and doesn't settle and follow the path. We are not moving very quickly and I figure I must be doing something wrong. Anyone have any ideas?
I'm using C-turtle
base_local_planner_parameters.yaml:
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.2
max_rotational_vel: 0.6
min_in_place_rotational_vel: 0.1
backup_vel: -0.4
acc_lim_th: 0.5
acc_lim_x: 0.3
acc_lim_y: 2.5
holonomic_robot: false
yaw_goal_tolerance: 7.0
xy_goal_tolerance: 0.8
path_distance_bias: 5.0
goal_distance_bias: 0.1
heading_lookahead: 1.0
heading_scoring: false
dwa: false
oscillation_reset_dist: 0.05
sim_time: 3.0
vx_samples: 3
vtheta_samples: 40
Thanks for your help,
Mike Sands