Steven,
The default parameters for the base_local_planner allow for a fair amount of
freedom when tracking a global path. To try to get the local planner to
follow your global plan more closely... I'd take a look at the following
parameters:
http://www.ros.org/wiki/base_local_planner#Trajectory_Scoring_Parameters. In
particular, you can probably up the path_distance_bias a bit. Hopefully,
playing around will get you where you want to be. If not, let us know the
issues.
I know some other people have run navigation on the creates, but I don't
have much experience on that platform so I'll let them chime in on their
experiences.
Hope all is well,
Eitan
On Wed, Sep 1, 2010 at 7:11 PM, Steven Martin <
s34.martin@connect.qut.edu.au
> wrote:
> Hi Guys,
>
> I have the Nav stack running on a couple of irobot creates we have in our
> lab and I have implemented my own global path planner using some optimal
> control stuff I have been working on. However the local DWA path planning
> really doesn't do a very good job at following the global path. I have had a
> bit of a look through the source and the paper on DWA and it should work
> fine for the nonholonomic robots.
>
> I was wondering if anyone could suggest a set of parameters for the local
> planner? And can anyone else comment on the performance of the Nav Stack on
> the creates?
>
>
> Cheers
>
> Steven Martin
> steven.martin@qut.edu.au
>
> PhD Student
> Queensland University of Technology
> Gardens Point, S1107
>
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