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Questions tagged [dwa]

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Nav2 DWB local planner over-correcting at goal

I have a differential drive robot application that requires a relatively tight xy_goal_tolerance of 3-4 cm. Usually if the goal heading is close to the robot's ...
indigoblue's user avatar
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114 views

Turn on a point using the DWA local planner with a differentially-driven car

How can DWA be used to let a diff-car turn around at specific point? For example, If the goal is at point (1), I want the car to turn first, then follow the line, like the green line in the pic. The ...
MysteryFlower's user avatar
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What is the difference between min_vel_x, min_trans_vel and trans_stopped_vel?

This might be a stupid question, but in the DWA planner, I've seen group of these three parameters which seems to be indicating the same thing to me. My understanding: Minimum velocity in x direction ...
jash's user avatar
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Unable to go straight ahead with move_base

Our robot is just turning on itself, whatever we ask it. It is heavy and has an important inertia. However, the turning direction keeps to be the same. We wonder why it does not go straight ahead. ...
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1 answer
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DWA Cannot control at reasonable rate (controller_frequency)

When I set my DWA controller_frequency in move base params above 7.0 Hz, I get the behavior below and the robot does not move. I see the default is 20Hz, Any thoughts on potential causes? I have near-...
Steve Macenski's user avatar
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1 answer
70 views

How to use move_base with the DWA planner as the local planner in kinetic

Hello, I am really confused as how to use the DWA for local planning with move_base. It seems that dwa is now a bool parameter of the base_local_planner/TrajectoryPlannerROS. But then how to access ...
doisyg's user avatar
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2 answers
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DWA Planner gives y velocities although y is set to 0

UPDATE: I checked the DWA Planner wiki page once more and took a look at the subscribed and published topics. I have now discovered a difference between the STAGE simulation and my real robot: The ...
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1 answer
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Unify parameters names for local planner

Plugin dwa_local_planner uses path_distance_bias/goal_distance_bias/occdist_scale, but base_local_planner uses pdist_scale/gdist_scale/occdist_scale with the same semantics. the configuration for some ...
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1 answer
12 views

How to avoid "Invalid Trajectory (cost: -1.000000)" in DWA Local Planner?

Dear all, I am using DWA to drive a differential robot around. I am running Ubuntu 12.04 and ROS Hydro. In general, the robot navigates well. However, sometimes when I send it to tight spots, I ...
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2 answers
47 views

robot unable to rotate in place for dwa_local_planner

Hi all, UPDATED I am using dwa_local_planner as a local planner and is having some issues while the robot is turning (that is, rotating in place). The robot is able to go forward without any issues ...
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1 answer
19 views

How to improve the speed of dwa in base_local_planner?

I am using base_local_planer as local planner. However, with same parameters, the speed of robot from Dynamic Window Approach(DWA) is smaller than with Trajectory Rollout(TR). The "max_vel_x&...
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Can social_navigation_layer be used in local avoidance by DWA?

I am trying to use social costmap in my project . Unlike the examples showed in people where a person is detected by 2D laser scan, a simulated topic /tracked_persons about the pose of people is sent ...
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1 answer
22 views

enable carrot_planner

Hi folks, How can I enable the carrot_planner in the navigation stack without have to write any code? Is there a parameter to enable it (in the same way we can enable/disable dwa)? Thanks edit1: After ...
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1 answer
7 views

global path effect on local planning

hi everyone I am interseted in pathplanning and i try to build my robot. As i understood, we can use navfn package for global pathplanning which means a path from the current robot state to the goal ...
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