I tried the settings above, but my robot stumbles. I want to move the angle later or less as shown in the video above. Can you tell me which local planner to use and how to configure it?



This is a video where y-axis speed was added to the turtlebot3 settings. It stumbles in a situation where it just needs to go straight along the x-axis and y-axis without the need for theta speed. How do I fix it?

here is my code.

# dwa_local_planner_params.yaml


# Robot Configuration Parameters
  max_vel_x: 0.22
  min_vel_x: -0.22

  max_vel_y: 0.22
  min_vel_y: -0.22

# The velocity when robot is moving in a straight line
  max_vel_trans:  0.22
  min_vel_trans:  0.11

  max_vel_theta: 2.75
  min_vel_theta: 1.37

  acc_lim_x: 2.5
  acc_lim_y: 2.5
  acc_lim_theta: 3.2 

# Goal Tolerance Parameters
  xy_goal_tolerance: 0.05
  yaw_goal_tolerance: 0.17
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.5
  vx_samples: 20
  vy_samples: 0
  vth_samples: 40
  controller_frequency: 10.0

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 20.0
  occdist_scale: 0.02
  forward_point_distance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
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    – ravi
    Commented Oct 24, 2023 at 6:18
  • $\begingroup$ I edited the post. Can you help me? $\endgroup$ Commented Oct 24, 2023 at 7:57


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