Where does it come from? tolerance works, lower doesn't). Well occasionally send you account related emails. Or possibly even record the local and global paths into a bag $MOVE_BASE_NAMESPACE/DWAPlannerROS/cheat_factor 2. I will come back to this at the weekend and see if I have any further inspiration. The dwa_local_planner package provides a controller that drives a mobile base in the plane. If the fix Can you add TF and the goals to Ok. I'll continue watching it tomorrow (well, today, Hmm, strange well, the whole simulation is available from our GitLab at http://git.rchh.org/public. can read it here: ReadMehttp://rchh.org:81/software/otter4_documentation/tree/master. There is a ReadMe that should explain how to do it but I'm not sure if it covers everything needed. The rate in Hz at which to run the global planning loop. What would be a reasonable After seeing your trial and going through the code, I'm quite sure that it's because the latch_xy_goal_tolerance is not working well. [ INFO] [1399971615.044754000]: Got new plan This is just launching this the cs_lg env pl. I took an initial look while trying to visualize the paths in Rviz, but A stellarator is a plasma device that relies primarily on external magnets to confine a plasma. A setup like this used to work for me, and a near-identical configuration of simulation and navigation is working fine for colleagues in the same team running Ubuntu 12.04. DWA planner always fails for me in simulation. I have checked the cmd from dwa. It's still sending forward command to my driver. Definition at line 213of file dwa_planner.cpp. whole unfiltered bag file, but it's pretty large and I guess you won't need Okay, I have set the cheat_factor to 2. However it's pretty complicated to set up. //edit: you should be able to clone the repository even with just guest access using the public urls instead of the git@rchh.org ones. It still depends on the value of Is there any suggestion. On Tue, Dec 10, 2013 at 7:36 PM, Hendrik Wiese notifications@github.comwrote: Okay, that works a lot better. So it's all there. If the frequency is set to 0.0, the global planner will only run when a new goal is received or the local planner reports that its path is blocked. I use ubuntu14.04, ros-indigo and kinect2, using move_base to navigate.But the error, DWA planner failed to produce path, aways show me. We don't want the robot being latched if we get a new goal, so when there is a new global plan, move_base will reset Latching. Even after executing all recovery behaviors. Given that the same setup works on 12.04, and that all tests are passing on trunk, I wonder if it might be something compiler related. 00007 * . hasn't yet been merged into it, I don't use it. Sign in min_trans_vel: 0.05 . On Thu, Nov 28, 2013 at 7:19 PM, Hendrik Wiese notifications@github.comwrote: I don't know what it is but it's still happening to my (simulated) Ah, no, I didn't. Therefore, my terminal output looks as follows: The corresponding rviz-visualization (with activated global and local costmap) looks as follows: Note that the trajectory that can be seen in this visualization is one of the mentioned sporadically occuring trajectories which has been computed a couple of seconds before the screenshot was taken! :-). You signed in with another tab or window. -DL!! Anyway, I really appreciate your help and effort! If you need any assistance setting it up, I'll certainly try my very best. In RViz the local and global cost maps are clear. I wonder whether if this failure is related to the bad tuning for the local planner params inside the . max_trans_vel: 0.4 [ WARN] [1640830338.958230667, 5020.496000000]: DWA planner failed to produce path. Have you check that the global cost map is loaded? Maybe this helps other people with the same problem. Hey David, just curious, have you alread had the time and inclination to take a look at my bag file? Course Support Robot Localization With Sensor Data. As you see in the following picture, When the robot recognizes the obstacle, the DWA_local_planner is not . Can social_navigation_layer be used in local avoidance by DWA? I spent the weekend looking at this. After a while, the systems starts the recovery actions but the next message prompts in the console: @meiqua thanks for reply! acc_lim_y: 0.0 need time to look into it some more. I think there is still an issue in the BHAM sim with the floor, but I will need time to look into it some more. I managed to fix it by setting vx_samples to 10 (default 3) and vy_samples to 0 (default 10). The name refers to the possibility of harnessing the power source of the stars, such as the Sun. acc_lim_x: 0.5 # measured with rqt_plot You can read it here: ReadMe. UPDATE: In the end this seems to be due to a strange interaction between our robot model and environment that seems to have only manifested under OS X. Hi, I have a similar problem. http://answers.ros.org/question/168961/dwa-planner-failed-to-produce-path/. However the robot's behavior is still heavily depending on the value of sim_time. I'm on hydro-devel HEAD revision. If you name other topics I'll happily In case you need any further data, just tell me which other topics you need. yet. [ INFO] [1535381132.075471469]: Got new plan [ WARN] [1535381132.180568313]: DWA planner failed to produce path. That might be the cause. navigation stack. latch_xy_goal_tolerance: true The output is repeated pairs of: [ WARN] [1399971614.546500000]: DWA planner failed to produce path. [ERROR] [1532580176.043937473]: Aborting because a valid control could not be found. Hello All, When I try to navigate the robot, the command prompt sometimes said the DWA planner failed to produce path. Are the models you're using [closed], How to use move_base with the DWA planner as the local planner in kinetic, DWA planner constantly replanning - got a new plan. I am running hydro on OS X installed using Homebrew, but with the navigation stack updated to the latest version (* hydro-devel 8824c44 fix robot_pose_ekf test) from its GitHub (and a few other packages updated too). DWAceres-navigationturtlebot3_navigation @Rayman turtlebot3_mbf pkg jash101 20201016 dwa ! However, the global planning is never closed before we reach the goal position and orientation. Okay, that works a lot better. As I am a remote worker, I've not had an "expert" looking over my shoulder although I am very active on boards to ask questions. and keep moving forward. . Even though I set a obviously feasible goal, it still fails. Yeah, that's what I thought. If it's a regular topic then it should be recorded as well. The Construct ROS Community. I'll try it and, again, report back. sim_time (1.5 works, 3.0 doesn't) and the xy_goal_tolerance (higher Thanks for all your help though. On Tue Jan 27 2015 at 12:48:07 Nick Hawes notifications@github.com wrote: I think there is still an issue in the BHAM sim with the floor, but I will On Sat, Dec 14, 2013 at 1:40 PM, Hendrik Wiese notifications@github.comwrote: Hey David, just curious, have you alread had the time and inclination to On Tue, Dec 17, 2013 at 3:00 PM, Hendrik Wiese notifications@github.comwrote: I think, I recorded everything. I'll check it out and report back. Most of the times, it throws a "DWA planner failed to produce path"-Warning and quits at some point. " The dwa local planner failed to find a valid plan, cost functions discarded all candidates. #66 (comment) I see some errors when I run all the tests, but I'm not sure all are relevant. @RalphKai dwa has some velocity limitation parameters: ~/min_vel_x (double, default: 0.0) 32 * any way out of the use of this software, even if advised of the dwa_local_planner: in place rotation FIRST goal does not work, Creative Commons Attribution Share Alike 3.0. By setting track_unknown_space to false, the unknown-area is treated like free-space and the local planner works perfectly fine. Yet, I'm not really sure about what the trajectory cloud is. This controller serves to connect the path planner to the robot. DWA planner failed to produce path.. until it gives up. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30780832 Set cheat_factor to 2 to avoid the problem, but doesn't address the fundamental problem. "The dwa local planner failed to find a valid plan, cost functions discarded all candidates. Sometimes the DWA local planner fails to find a local plan (because the robot is stuck or something) and the recovery behaviors start to be executed. min_vel_x: -0.4 Here you are: bag file with DWA planner, TF and goals. the loop actually took 0.4449 seconds Could you send me a patch, thanks! So we can see the robot dancing sometimes. So something has changed in either my navigation configuration (which is maintained in a project that other people . then it should be recorded as well. Have a question about this project? near static obstacles. Easiest would probably be to upload the whole unfiltered bag file, but it's pretty large and I guess you won't need our robot specific, custom topics and messages. But my robot is unable to rotate in-place. Please start posting anonymously - your entry will be published after you log in or create a new account. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-29851873 Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-29491420 . And the bot doesn't move. relatively high goal tolerance. Higher values for the cheat_factor don't [WARN] [1571108771.289157476]: DWA planner failed to produce path. Looking at the code (dwa_planner_ros.cpp) that produces this message it looks like it is being produced because a 0 or negative cost path is being produced. [ INFO] [1640830339.351365122, 5020.694000000]: Got new plan [ WARN] [1640830339.353098334, 5020.694000000]: DWA planner failed to produce path. Temporary fix is here: But that shouldn't make a difference, should it? . Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30286615 [ERROR] [1571108775.158136711]: Failed to get a plan. appear to have bigger impact on this behavior. The text was updated successfully, but these errors were encountered: Hey Hendrik, Okay, try one more thing (that I really should have mentioned the Cost: -1.00 [ INFO] [1532580175.843830584]: Got new plan [ WARN] [1532580175.845862800]: DWA planner failed to produce path. Have a question about this project? that wasn't working for some reason. . Any suggestion will be helpful. However, it also just uses scitos_2d_navigation. Now It doesn't stuck with its new plan. max_rot_vel: 1.0 With a value of 2 seconds it successfully reaches its goal but there are other disadvantages to that near static obstacles. DWA planner not considerate robot footprint, DWA Cannot control at reasonable rate (controller_frequency), DWA fails to produce the path in the free space, strange behavior. On Thu, Dec 5, 2013 at 6:05 AM, Hendrik Wiese notifications@github.comwrote: Okay, I have set the cheat_factor to 2. Easiest would probably be to upload the the loop actually took 5.7032 seconds [ERROR] [1571108778.332513184]: Failed to get a . Can you try this branch please? The minimum x velocity for the robot in m/s, negative for backwards motion. I didn't set any filters. [WARN] [1571108775.159164535]: Map update loop missed its desired rate of 1.0000Hz. @meiqua thank you very much. If we close it, the robot may go away from the goal then start local planning again during the in place rotating stage. the parameter yaml of move_base show as follow: Hello, did you find a fix for this ? But I think It's . Oh dear, I hope it's not completely my fault in the end having busted your whole weekend for nothing would be a pretty unpleasant thought. the parameter yaml of move_base show as follow: DWAPlannerROS: # Robot Configuration Parameters - Kobuki max_vel_x: 0.1 # 0.55 min_vel_x: 0.0 max_vel_y: 0.0 # diff drive robot min_vel_y: 0.0 # diff drive robot . //edit: Well, the first thing to mention is that I can't compile dwa_planner.cpp due to an undeclared variable porient_scale_ in line 279. cheat_factor: 2. [ INFO] [1535381132.275184519]: Got new plan [ INFO . However, I can see a green curve from the robot to the goal in rviz. This can mean there is an obstacle too close to the robot." local_plan. Here is the final output you will be able to achieve after going through this tutorial: Real-World Applications Prerequisites Can you email me directly at davidvlu@gmail so we can try to debug this Given the current position and velocity of the robot, find the best trajectory to exectue. And it still happens. Might be a good opportunity to prove that. With a value of 2 seconds it I pulled the latest hydro-devel branch and recompiled the whole I figured it out: Already on GitHub? [ WARN] [1602855507.563856791, 183.186000000]: DWA planner failed to produce path. If not, just modify it for the correct version in the command above. Reply to this email directly or view it on GitHub orientation. By clicking Sign up for GitHub, you agree to our terms of service and If it's a regular topic I'm trying to build a navigation framework using move_base with DWAPlannerROS as the local planner/controller on ROS Melodic. Apparently, the DWAPlanner cannot handle unknown-areas (represented by NO_INFORMATION-cost values) properly. However the robot's behavior is still robot. You signed in with another tab or window. It is fixed in the latest version, but I think it has not been released Alright. Sign in @breeze Please open up a separate question. the bag? I like your planner most I'll check it out and Or should it work out of the box? . Make sure you have them installed with the following command: sudo apt-get install ros-kinetic-dwa-local-planner. first time): Same branch but set DWAPlannerROS/scaled_path_factor to 0.75. http://git.rchh.org/public. not this problem: #92 So something has changed in either my navigation configuration (which is maintained in a project that other people have been editing) or in my ROS install that has created this problem. proprietary, or can you share your whole simulation setup? If we close it, the robot may go away from the goal then start local planning again during the in place rotating stage. the recorded topics in the original bag file: rosbag info http://pastebin.com/8utb0qn5. It works fine now~. I use ubuntu14.04, ros-indigo and kinect2, using move_base to navigate.But the error, DWA planner failed to produce path, aways show me. The following code is the conditional which returns false and ultimately leads to the message above. value and where do I have to set it? If I publish to /cmd_vel the robot moves fine. However it's pretty complicated to set up. By clicking Sign up for GitHub, you agree to our terms of service and Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30021894 I have a map and the robot is well localised in it, but when I try to send it to a nav goal in RViz I repeatedly get the message. Here are the parameters: https://github.com/DLu/navigation/tree/hydro_end_path_fix But you can try it out if you face the problem too. So, please can anyone give me a hint about where else to look to try to find out what's causing this failure? heavily depending on the value of sim_time. Dang it. Hey all, To check this, you can set latch_xy_goal_tolerance to false and should see the robot dancing in the same way. https://github.com/ros-planning/navigation/blob/hydro-devel/dwa_local_planner/src/dwa_planner.cpp#L176 @meiqua Do you solve the problem? Best, @David Lu I've been trying, but as almost everyone else is using the Ubuntu packages there are lots of differences, but most are probably irrelevant. offline? @hawesie Which branch/distro of navigation are you using? The terminal keeps showing: [ INFO] [1668106008.171177180, 343.120000000]: Got new plan [ WARN] [1668106008.172361067, 343.120000000]: DWA planner failed to produce path. Do all the tests pass on your system? Thanks! It still depends on the value of sim_time (1.5 works, 3.0 doesn't) and the xy_goal_tolerance (higher tolerance works, lower doesn't). I'm not able to test it on a real robot because we don't have Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30585082 @David Lu excuse me,i am of great interest in your global planner in hydro navigation, and hope to have a try.But i don't know how to change the default "navfn/NavfnROS" object .In old navfn package ,class NavfnROS is defined with parameters like /allow_unknown contained in initialization function.How to use your param? That might be the cause. successfully reaches its goal but there are other disadvantages to that So we can see the robot dancing sometimes. . @David Lu hydro-devel looks like 1.11.8 according to git log, latest commit is `8824c440ba7da2ddb8bc7bad829fa8acc7349272`. I want to ask how to capture this stage in order to perform custom behaviors. Alright, phew, that takes a load off my mind. You'll hopefully be able to see what's happening. This information is generated from here when the cost of computed . I am using gmapping to make the map. The left part of the following image shows the output in the terminal while the package is being run in debug model. Please start posting anonymously - your entry will be published after you log in or create a new account. [ERROR] [1571108772.156485838]: Failed to get a plan. I'll continue watching it tomorrow (well, today, that is, as it's already around 2:30am here; guess I'll go to bed now) and report back thanks again and good night! On Tue, Dec 17, 2013 at 1:14 PM, Hendrik Wiese notifications@github.comwrote: Don't mean to rush you but have you been able to make use of the new [ WARN] [1483435535.163701414]: DWA planner failed to produce path. -DL!! close to its goal, swings left and right for a while and kind of jumps -David!! Just to make sure it isn't caused by anything you simply cannot think of because it's too unusual, here some facts about my setup: DWAPlannerROS: acc_lim_th: 6.5 # measured with rqt_plot Sign up for a free GitHub account to open an issue and contact its maintainers and the community. our robot specific, custom topics and messages. I couldn't find it anywhere, neither something that looks at least similar. Well occasionally send you account related emails. Already on GitHub? clear (); Therefore, my terminal output looks as follows: The corresponding rviz-visualization (with activated global and local costmap) looks as follows: Note that the trajectory that can be seen in this visualization is one of the mentioned sporadically . The issue appears to be with the. The text was updated successfully, but these errors were encountered: I usually use bham_cs_nav2d.launch which takes cs_lg as default environment. The output is repeated pairs of: This is just launching this the cs_lg env plus scitos_2d_nav. [ERROR] [1483435535.363040422]: Aborting because a valid control could not be found. Other threads suggested to use default parameters and then tune every single parameter in order so see which parameter causes the problem, but when using only default-params the issue remained, too. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. latch_xy_goal_tolerance is designed to prevent robot moving once reaching the goal position. I'm on hydro-devel HEAD revision. We also faced the problem recently. The fundamental problem stems from the weight on the alignment cost being set incorrectly (see 6a72c61 for one fix). You I've recorded the whole environment into a big bag file, just filtered the topics relevant to your planner into the uploaded bag file for it to remain conveniently small. If it's the reason, you can just make your robot stop if not receiving anything. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30790417 Seriously though, try it again after you pull the latest version. Is there anything you can do to isolate the issue between your current configuration and the others with the working configurations? But I think it's still very weird, It should be able to move backward and modify its plan until it get the goal. Along the way, the planner creates, at least locally around the robot, a value . min_vel_y: 0.0 Creative Commons Attribution Share Alike 3.0. Hi everybody, currently, I'm working on AMCL navigation (from Point A to Point B) and for this reason I'm using DWAL_local_planner. to your account. Ok. As implied by the name, cheat_factor isn't a real fix. What would be a reasonable value and where do I have to set it? So, here comes a bag file (Dropbox) that will hopefully shed some light on what's going on in your planner on my system. dwa_local_planner: in place rotation FIRST goal does not work, Why is the laser scan used my most robotic even when the point cloud is present, How to use move_base with the DWA planner as the local planner in kinetic, Simple 2D Navigation Goal is making robot to drive circles endlessly, DWA planner failed to produce path [closed], Creative Commons Attribution Share Alike 3.0. To make sure it wasn't a DWA planner parameter tuning issue, I used it with turtlebot3_navigation params (like @Rayman's turtlebot3_mbf pkg) with launch file like in ceres-navigation here is my code. I've tried it and it looks like it's gotten worse again. Yet, I'm not But of course. On Sun, Dec 15, 2013 at 2:47 AM, Hendrik Wiese notifications@github.comwrote: Hmm, strange well, the whole simulation is available from our GitLab at http://answers.ros.org/question/94536/testing-dwa-local-planner-approaches-goal-stops-keeps-swinging-left-right/#96786, https://github.com/ros-planning/navigation/blob/hydro-devel/dwa_local_planner/src/dwa_planner.cpp#L176, https://github.com/DLu/navigation/tree/hydro_end_path_fix, : Reset oscillation timer after executing a recov, It's a two-wheeled differential drive robot only moving in a plane (no ramps or uneven terrain), so only x and y coordinates matter, z is always 0.00, The V-REP simulator provides ROS with a fully simulated odometry/localization, I also simulate laser scans which keep the robot's obstacle awareness up-to-date, I'm sending goals using RViz 2D Nav Goal user interface, all parameters for the DWA local planner are default, exceptions see below, ideal cartesian precision is about 0.001m, but since that's utopistic I'm content with 0.05m in the first place (optimizations might follow later), It's a two-wheeled differential drive robot only moving in a plane, The V-REP simulator provides ROS with a fully simulated, I also simulate laser scans which keep the robot's obstacle, all parameters for the DWA local planner are default, exceptions see, ideal cartesian precision is about 0.001m, but since that's. using this fix? publish_cost_grid_pc: true So, yes, my code uses #154. I want to check in my python code if DWA local planner failed, and if so, I . bag file? Is your code I'm assuming you are using ROS Kinetic. On Tue, Dec 10, 2013 at 5:41 PM, Hendrik Wiese notifications@github.comwrote: I've tried it and it looks like it's gotten worse again. Anyway, I really appreciate your help and effort! An easy way to fix this bug is checking the global plan's goal before resetting latching in function DWAPlannerROS::setPlan. When reaching the goal, topic cmd_vel stops publishing, but the last cmd your robot received is not 0, so it keeps going. changes it at least worked with a low sim_time and a for my setup Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30280421 However, I haven't see it plan the reverse motion from dwa_local_planner. tonyli19970130 December 25, 2020, 6:13pm #1. because it is up to now the only one that appears to allow my robot to Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-29892329 Sorry to hear of your troubles. Might be a good opportunity to prove that. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30600601 In fact, it only appears to get a trajectory very sporadically. tell me the approximate shapes of the paths you're testing, including goal one yet. Thanks, I'll give it a try and report back. max_vel_x: 0.6 If you name other topics I'll happily add them to the uploaded bag file. It is one of the earliest fusion power devices, along with the z-pinch and . I like your planner most because it is up to now the only one that appears to allow my robot to approach its goal backwards (among other things). inside the local_costmap_params. Whenever I set a goal, the global planning is successful but the DWAPlannerROS doesn't work well. I have problems too with the dwa local planner. take a look at my bag file? I didn't change anything in my_turtlebot_path_planning package. After I set the xy_goal_tolerance larger then the problem fixed. ahead for a short distance only to go dancing again before your last This function is used when other strategies are to be applied, but the cost functions for obstacles are to be reused. see your bug fix working? I didn't set any filters. . DWA planner always fails for me in simulation. Hi, I had a similar problem without using a global planner on a differential wheeled robot. This can mean there is an obstacle too close to the robot. //edit: alright, it obviously is merged, part of the head revision and thus part of my stack as well. Do I have to configure something to Most of the times, it throws a, "DWA planner failed to produce path"-Warning. Parameters: Returns: The highest scoring trajectory. There is a ReadMe that should explain how to do it but I'm not sure if it privacy statement. New in navigation 1.6.0. So here's a list of all the recorded topics in the original bag file: rosbag info Hey Hendrik, This can mean there is an obstacle too close to the robot". There is another quick dirty way, just set planner_frequency in move_base params to zero, then global planner will only work when we get a new goal or local planner fails, so latching won't be reset too often. . @meiqua Yes, I tested it, it worked! In this tutorial, I will show you how to create a path planner plugin that will enable a robot to move in straight lines using the ROS 2 Navigation Stack (also known as Nav2). The problem is from global planning. On Wed, Dec 4, 2013 at 4:21 PM, Hendrik Wiese notifications@github.comwrote: Ah, no, I didn't. privacy statement. Dear David, Please test-compile your code before making other people try it. But the situation is like this: . and report back thanks again and good night! Does anyone have an idea on what could be the issue? If latch_xy_goal_tolerance is what we want and global plan's goal is not changed (so we need to record an old goal), don't reset the latching. DWA planner failed to produce path. DWA local planner failed to make a plan. that is, as it's already around 2:30am here; guess I'll go to bed now) DWAPlannerROSmove_baseDWAPlannercostmap btw move_baseDWAPlannerROSsetPlancomputeVelocityCommands Do i need a special nav launch for simulation or should the normal one work? This can mean there is an obstacle too close to the robot. 00001 /***** 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. Changed /move_base/planner_frequency from 0.0 to 10.0. Don't mean to rush you but have you been able to make use of the new bag file? The robot stops close to its goal, swings left and right for a while and kind of jumps ahead for a short distance only to go dancing again before your last changes it at least worked with a low sim_time and a for my setup relatively high goal tolerance. Because my robot is carlike robot, so it have some limitation to move exactly the goal's pose. Scientists researching magnetic confinement fusion aim to use stellarator devices as a vessel for nuclear fusion reactions. ros rosrun rqt_reconfigure rqt_reconfigure 1 rosrun dynamic_reconfigure dynamic_reconfigure 1 ROS turtlebot navigation A setup like this used to work for me, and a near-identical configuration of simulation and navigation is working fine for colleagues in the same team running Ubuntu 12.04. @RalphKai Maybe your robot has not received a 0 cmd? add them to the uploaded bag file. . if you have time. Any tests in particular? If you need any assistance setting it up, I'll certainly try my very best. really sure about what the trajectory cloud is. dwa_local_planner Author(s): Eitan Marder-Eppstein, contradict@gmail.com autogenerated on Wed Aug 2 2017 03:12:59 -David!! Sorry, didn't have the time to do that, yesterday, but today I'm on it again. At the moment I'm using the following params: Note that the occupancy grid which is used as map_topic gets updated/published every 5 seconds. At first sight, it looks like you don't have the libraries installed. approach its goal backwards (among other things). Why transformed_plan in dwa_planner_ros.cpp is empty? It outputs "The dwa local planner failed to find a valid plan, cost functions discarded all candidates. I've tried that but the issue remained. min_rot_vel: 0.02 During the last rotating stage, the orientation haven't been reached, so latching is reset. Make sure that it is to your account, Discussed here: http://answers.ros.org/question/94536/testing-dwa-local-planner-approaches-goal-stops-keeps-swinging-left-right/#96786. I think, I recorded everything. And don't worry, it juuuuuuust happens that your problem was something I was looking at for my thesis anyway. How to setup the DWA Planner for holonomic drive? computeVelocityCommands()dwa_local_plannerdwa_local_plannerbase_local_plannermove_base I've read some other posts solved the issue using the turtlebot-params. To check this, you can set latch_xy_goal_tolerance to false and should see the robot dancing in the same way. Does this happen under Ubuntu 14.04 and ROS Indigo? Actually, I think I figured out the bag. report back. The robot stops Higher values for the cheat_factor don't appear to have bigger impact on this behavior. So here's a list of all Even after executing all recovery behaviors [ WARN] [1483435535.453094102]: Map update loop missed its desired rate of 5.0000Hz. max_vel_y: 0.0 I've performed some usual tasks, sending goals, waiting for the robot to arrive (or start dancing) and meanwhile changing sim_time through dynamic reconfigure between working and not so well working values. I've posted a cry for help on ROS answers: http://answers.ros.org/question/168961/dwa-planner-failed-to-produce-path/. Just to confirm, did you change the value of cheat_factor? The DWA_local_planner works well but I'm facing an issue when I put an obstacle in its way (the obstacle is put in its global path before it starts to move). . Please, describe detailedly what difficulty you are in First of all the TB3 (waffle pi) navigation works well using the following parameter set: You should get some sleep, and then On Fri, Dec 6, 2013 at 1:28 PM, Hendrik Wiese notifications@github.comwrote: Yeah, that's what I thought. covers everything needed. Given that I can't see any obstacles in the cost maps, I'm not sure what is causing this. How to improve the speed of dwa in base_local_planner? The problem is from global planning. #154. If the fix hasn't yet been merged into it, I don't use it. Using a map, the planner creates a kinematic trajectory for the robot to get from a start to a goal location. Just check whether the goal is changed before resetting the latching. Were you recording the trajectory cloud as well when you made this bag? but it passed the goal and only stop around 1 sec. 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