unable to increase speed of the bot using dwa_local_parameter

Question

I am trying to increase the speed of skid steering bot using dwa local planner but the speed doesn't increase above 0.5. I have tried manipulating acceleration, velocity and translational limit in the parameter file but the result is still the same. I don't get what is limiting the bot to not increase the speed above 0.5 m/s.

Update- I checked the situation using rqt_reconfigure and the bot is able to react to any value in max_vel_x throughout the slider. But when I mention the same values in the yaml file, the bot sticks to 0.5 m/s for vel > 0.5.

Below is the content of my dwa_local_planner_params.yaml file-

DWAPlannerROS:

  max_vel_x: 1.5  
  min_vel_x: 0.0 

  max_vel_y: 0.0  
  min_vel_y: 0.0  

  max_trans_vel: 1.5
  min_trans_vel: 0.0  
  trans_stopped_vel: 0.1

  max_rot_vel: 5.0  
  min_rot_vel: 0.4  
  rot_stopped_vel: 0.4
  
  acc_lim_x: 2.5
  acc_lim_theta: 2.0
  acc_lim_y: 2.5

  yaw_goal_tolerance: 0.3  
  xy_goal_tolerance: 0.5 

  sim_time: 1.0       
  vx_samples: 6        
  vy_samples: 1      
  vtheta_samples: 20  

  path_distance_bias: 90.0      
  goal_distance_bias: 24.0      
  occdist_scale: 0.50           
  forward_point_distance: 0.325 
  stop_time_buffer: 0.2         
  scaling_speed: 0.25           
  max_scaling_factor: 0.2      

  oscillation_reset_dist: 0.05  

  publish_traj_pc : true
  publish_cost_grid_pc: true
  global_frame_id: odom

Launch File-

<node pkg="agv_navigation" name="controller" type="goal_sequence.py"></node>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/> 
<param name ="publish_frequency" type=" double" value="50.0"/>

<arg name="map_file" value="$(find agv_navigation)/map/world.yaml"/>

<node pkg="map_server" type="map_server" name="map_server" args="$(arg map_file)" output = "screen" />

<include file="$(find agv_navigation)/launch/amcl.launch" />
<include file="$(find agv_description)/launch/agv_visualize.launch"/>

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>

<rosparam file="$(find agv_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find agv_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find agv_navigation)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find agv_navigation)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find agv_navigation)/config/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find agv_navigation)/config/move_base_params.yaml" command="load"/>
<rosparam file="$(find agv_navigation)/config/dwa_local_planner_params.yaml" command="load"/>
<rosparam file="$(find agv_navigation)/config/global_planner.yaml" command="load"/>
<remap from="cmd_vel" to="/cmd_vel"/>
<remap from="odom" to="odom"/>

</node>

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Originally posted by arjunchatterg on ROS Answers with karma: 36 on 2020-11-17

Post score: 0

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Original comments

Comment by mgruhler on 2020-11-18:
Please use proper tags. gmapping and djikstra have nothing to do with your question. Thanks.

Did you observe move_base actually publishing only a maximum velocity of 0.5m/s? Might be something else is limiting the robots velocity as well. Also, please check that the parameters are actually used, i.e. they are loaded in the correct namespace.

Comment by arjunchatterg on 2020-11-18:\

1. /cmd_vel topic echoes the mentioned speed.
2. What parameter could limit the speed ? Local planner should only be responsible for robot's speed right ?
3. How do I check if they are correctly loaded ? rqt_graph seems fine to me.

Comment by mgruhler on 2020-11-18:
max_vel_x and max_vel_trans should be the relevant ones. Does changing any parmeter have any effect on the robot? Try setting it to 0.1m/s and see if it is observing this limit. If not, you probably have loaded the parameters in the wrong namespace. Edit your question and show the launch file with which you upload the parameters.

Comment by arjunchatterg on 2020-11-18:
Bot is reacting to speed less than 0.5 m/s. But it stays at 0.5-0.55 even if I provide 1.0 m/s.

Comment by mgruhler on 2020-11-18:
is this stuff on a repo that we can check? I don't see anything wrong with the configuration, but there are so many things to check that having this on a repo would really help...

Comment by arjunchatterg on 2020-11-18:\

1. Config files are slight modifications of this repo
2. Python script contains a simple addition of a loop of waypoints in this code

Answer 1

I figured out the solution. The parameter is actually max_vel_trans instead of max_trans_vel.

Thanks for your concern.

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Originally posted by arjunchatterg with karma: 36 on 2020-11-18

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by mgruhler on 2020-11-19:
great you figured it out. Actually, the parameter name has been changed in melodic. Also, the planner outputs a warning (see also this) which you should have seen. But I also missed the name change :-D

Comment by miura on 2020-11-19:
Congratulations.

Comment by arjunchatterg on 2020-11-19:
Yes, I figured out after I looked at the warning. Thank you so much for your time and concern @mgruhler and @miura