[ros-users] TrajectoryPlannerROS does not take parameter

[Eric Perko]

Christian,

A couple more things that may be helpful.

First, could you check the output of `rostopic list -v` to make sure
that it looks like all nodes are subscribed to the proper topics.

Second, if you can reproduce the behaviors you described, could you
record bag files of all relevant topics and make those available (they
ought to compress decently) for download, as that may aid in
reproducing this error. I'm especially interested in figuring out how
you managed to get the robot to follow the path backwards... I've
never seen that happen in the past few months of using the navigation
stack. Are the velocities commanded by move_base negative and constant
(and equal to the backup_vel parameter) or do they change?

Also, it might be useful to try switching to the cturtle pre-compiled
packages to see if this behavior is still present in the current alpha
version of cturtle as well.

- Eric

On Tue, Jun 15, 2010 at 3:35 AM, Christian Verbeek
<verbeek at servicerobotics.eu> wrote:
> Dear Eitan,
>
> The most critical configuration is base_local_planner_params. I am
> playing around with this for three days now and I am not able to find a
> satisfactory setting. My robot is quite big (radius 0.46m) and  our
> office space is narrow. Depending on its starting position the planner
> makes a good job once and during the next run it fails to find a path. I
> also saw the robot driving the whole path backwards! I mean, this should
> never happen.
>
> I got the navigation stack running with our smaller robot "Robotino".
> This one has only 0.16m radius and is holonomic so it has much more
> space to move in our office. The big platform discussed here is really a
> challenge. You can see a video of the big platform moving in our office
> at http://www.servicerobotics.eu/index.php?id=25&L=0
>
> Here are the navigation stack config files.
>
> **********move_base.launch******************
> <launch>
>  <!--- Run mapserver -->
>  <include file="$(find f5_navigation)/map_server.launch" />
>
>  <!--- Run AMCL -->
>  <include file="$(find amcl)/examples/amcl_diff.launch" />
>
>  <node pkg="move_base" type="move_base" respawn="false"
> name="move_base" output="screen">
>    <rosparam file="$(find
> f5_navigation)/config/costmap_common_params.yaml" command="load"
> ns="global_costmap" />
>    <rosparam file="$(find
> f5_navigation)/config/costmap_common_params.yaml" command="load"
> ns="local_costmap" />
>    <rosparam file="$(find
> f5_navigation)/config/local_costmap_params.yaml" command="load" />
>    <rosparam file="$(find
> f5_navigation)/config/global_costmap_params.yaml" command="load" />
>    <rosparam file="$(find
> f5_navigation)/config/base_local_planner_params.yaml" command="load" />
>  </node>
> </launch>
> **********move_base.launch******************
>
> **********costmap_common_params.yaml*******
> obstacle_range: 2.5
> raytrace_range: 3.0
> #width=0,75
> #length=0.8 + 0.08 laser rangefinder
> #footprint: [[-0.4, 0.375], [-0.4, -0.375], [0.48, -0.375], [0.48, 0.375]]
> robot_radius: 0.46
> inflation_radius: 0.5
>
> observation_sources: laser_scan_sensor
>
> laser_scan_sensor: {sensor_frame: laser_link, data_type: LaserScan,
> topic: scan, marking: true, clearing: true}
> **********costmap_common_params.yaml*******
>
> **********local_costmap_params.yaml**********
> local_costmap: {
>  global_frame: odom,
>  robot_base_frame: base_link,
>  update_frequency: 5.0,
>  publish_frequency: 2.0,
>  static_map: false,
>  rolling_window: true,
>  width: 3.0,
>  height: 3.0,
>  resolution: 0.05 }
> **********local_costmap_params.yaml**********
>
> **********global_costmap_params.yaml**********
> global_costmap: {
>  global_frame: /map,
>  robot_base_frame: base_link,
>  update_frequency: 5.0,
>  static_map: true }
> **********global_costmap_params.yaml**********
>
> **********base_local_planner_params.yaml**********
> TrajectoryPlannerROS:
>  max_vel_x: 0.2
>  min_vel_x: 0.05
>  max_rotational_vel: 0.4
>  min_in_place_rotational_vel: 0.15
>
>  acc_lim_th: 1.0
>  acc_lim_x: 0.1
>  acc_lim_y: 0.1
>
>  #2.8grad Genauigkeit
>  yaw_goal_tolerance: 0.05
>  xy_goal_tolerance: 0.2
>
>  sim_time: 2.0
>  sim_granularity: 0.01
>  vx_samples: 50
>  vtheta_samples: 50
>  controller_frequency: 20.0
>
>  #path_distance_bias: 1.5
>  #goal_distance_bias: 0.8
>  #heading_lookahead: 0.5
>  #heading_scoring: true
>  #heading_scoring_timestep: 1.2
>
>  occdist_scale: 0.01
>  #dwa: false
>
>  #oscillation_reset_dist: 0.02
>
>  holonomic_robot: false
> **********base_local_planner_params.yaml**********
>
> --
> ___________________________________________
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>
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