hello, everyone, I am trying to use DWA local planner in my project. I want to use the one in dwa_local_planner, not the one in base_local_planner. Parts of my launch file are listed below.
However, I found that the source code in dwa_planner_ros.cpp is not run, i.e. the functions like " DWAPlannerROS::dwaComputeVelocityCommands" in dwa_planner_ros.cpp is not implemented when running move_base node.
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam command="load" file="$(find simulator)/move_base_config/costmap_common_params.yaml" ns="global_costmap" />
<rosparam command="load" file="$(find simulator)/move_base_config/costmap_common_params.yaml" ns="local_costmap"/>
<rosparam command="load" file="$(find simulator)/move_base_config/local_costmap_params.yaml"/>
<rosparam command="load" file="$(find simulator)/move_base_config/global_costmap_params.yaml"/>
<!--rosparam command="load" file="$(find simulator)/move_base_config/base_local_planner_params.yaml"/-->
<rosparam command="load" file="$(find simulator)/move_base_config/dwa_local_planner_params.yaml"/>
<remap from = "map" to ="/map"/>
<param name= "controller_frequency" value="10" type="double"/> </node>
The content of dwa_local_planner_params.yaml is listed below:
DWAPlannerROS:
acc_lim_th: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
max_vel_x: 0.65
min_vel_x: 0.0
max_vel_y: 0.1
min_vel_y: -0.1
max_trans_vel: 0.65
min_trans_vel: 0.1
max_rot_vel: 1.0
min_rot_vel: 0.4
sim_time: 1.7
sim_granularity: 0.025
goal_distance_bias: 32.0
path_distance_bias: 24.0
occdist_scale: 0.01
stop_time_buffer: 0.2
oscillation_reset_dist: 0.05
forward_point_distance: 0.325
scaling_speed: 0.25
max_scaling_factor: 0.2
vx_samples: 3
vy_samples: 10
vtheta_samples: 20
sim_period: 0.1
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.17
rot_stopped_vel: 0.01
trans_stopped_vel: 0.01
Could someone tell me why ? Thank you!
Originally posted by scopus on ROS Answers with karma: 279 on 2015-05-18
Post score: 0
Original comments
Comment by Naman on 2015-05-18:
Is the dwa parameter in your base_local_planner_params.yaml true?
