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Questions tagged [dwa-local-planner]

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ROS How do I make the local planner as straight as possible

I am currently using ROS Melodic and the move_base package for navigation. I am utilizing the A* global planner and DWA local planner and would like the vehicle to follow a path passing through ...
Minji Song's user avatar
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move_base with optitrack

I am trying to integrate optitrack (vicon) tracking system with move_base. I was able to compute the world (from optitrack) to odom frame using this transformation: (odom_to_base_link * ...
ItsKalvik's user avatar
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#include errors for navigation package

sorry if this is dumb I'm new to cpp and ros, but am currently using this: https://github.com/ros-planning/navigation but I keep getting the error across basically every file I open: #include errors ...
widogast's user avatar
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How can I get more in depth in path following?

I wanted to learn more about ROS, path planning, following etc. I made my own path following algorithm, a simple PD controller that follow waypoints. On a path msg it didn't worked really well, but it ...
defend's user avatar
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2 answers
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How to handle local cost map when robot is carrying a shelf in ros2 navigation2?

There is no problem if the robot is not carrying a shelf when using navigation2 with a local cost map with size of (4m x 4m). But when robot is carrying a shelf (see the picture below), if I still use ...
Phymin's user avatar
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1 answer
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switching between local planner in ROS2

I am wondering will if be possible in ROS2 to have 2 different local planners and be able to switch between them. For example, I want to use both pure-pursuit planner and DWA planner. Let's say that I ...
sdu568's user avatar
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0 answers
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Question about simulating a robot using Stageros

I am new to ROS. I am using Navigation Stack on Stageros to control a robot. I have a problem with the behavior of the robot when it moves to avoid obstacles in the direction of travel, and I need ...
denchi's user avatar
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1 answer
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How to disable obstacle avoidance on DWA Planner?

I am using DWA Planner on ROS Noetic for my navigation. It works perfectly. However, I want to change it's behavior. Instead of avoiding an obstacle, I want my robot to wait until the obstacle gets ...
MarkCuck334's user avatar
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29 views

Robot Control Algorithms for Precise Positioning

I am currently researching the optimal controller algorithm to navigate my robot to a specific x and y position within a specific coordinate frame with a high degree of accuracy, approximately 5mm. ...
Osama Salah's user avatar
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1 answer
21 views

How to enable debug logging for the DWALocalPlanner and the SimpleScoredSamplingPlanner

I'm testing simple navigation for my robot using Gazebo and RViz. Each time I set a 2D nav goal in RViz I get a log indicating that the local planner failed to find a path. This continues for a bit ...
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DWA suddenly stops when it arrives to the goal

I am using move_base and dwa_local_planner. Robot moves smoothly at start but when it arrives to goal it suddenly stops instead of slowing down when getting closer to the goal. I have tried different ...
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1 answer
77 views

move_base generating path in unknown space

Hi, I am trying to use ROS navigation stack with RPlidar A2. currently, I am running gmapping with move_base and ...
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1 answer
97 views

Simple local planner in Python?

Hello everybody, I would like to implement my own local planner using Python for exercise purposes. Therefore, I make no use of move_base and the ROS navigation stack at all and try to implement those ...
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1 answer
12 views

unable to increase speed of the bot using dwa_local_parameter

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 ...
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1 answer
64 views

DWA planner failed to produce path

I'm trying to build a navigation framework using move_base with DWAPlannerROS as the local planner/controller on ROS Melodic. Whenever I set a goal, the global planning is successful but the ...
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1 answer
42 views

How to tune dwa_local_planner parameters

Hi, just wondering if anyone has a good method to tune the parameters of dwa_local_planner? My system basically works but many times motion is too slow and the ...
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1 answer
58 views

dwa local planner: deceleration limit?

Looking at http://wiki.ros.org/dwa_local_planner I see the config parameter acc_lim_x (x acceleration limit) which is needed for forward simulation. Why is there no ...
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1 answer
36 views

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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1 answer
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Problem with DWA planner, post 0.0 to angular velocity after is posted real speed

Hello, I have tried DWA local planner, it works almost good. However I faced some problem: fist is that when robot try perform in place rotation is starts post such a strange velocities like in the ...
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1 answer
21 views

How to use dwa_local_planner ROS wrapper C++ API

Hi, UPDATE: This question was answered. Look at the answer below for a quick how-to :). I am trying to use the ROS WRAPPER for the dwa_local_planner, however I am having some issues when I call the ...
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1 answer
7 views

Follow the straight global plan

Suppose I want to go to point B from A. Global plan initially publishes a straight plan. But whenever, a dynamic obstacle is in the path, DWA will try to drive around the obstacle. However, I would ...
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1 answer
63 views

Navigation in narrow corridors

Hi! I have a setup in which I would like to send the robot to explore narrow corridors (~10-20 cm wider than the robot body). Here is how it can look like in the simulated environment: Currently in ...
Mateusz Sadowski's user avatar
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1 answer
2 views

How connect robot to DWA_local_planner

Hi! I have cloned dwa_local_planner algorithm from here: https://github.com/ros-planning/navigation.git. Can you tell me what do I need to do to connect it to my robot and world? How does it work? ...
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2 answers
18 views

SBPL -can't find package

Hi, after installing all the packages connected with Dwa_local_planner, including those: ...
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1 answer
9 views

When optimizing the DWA local planner, is there a way to get the the total cost assocaited from APIs or from the parameter server?

I am trying to automate the parameter selection for DWA, for this I need to have the cost function value, is there a way to obtain this? Originally posted by unrahul on ROS Answers with karma: 1 on ...
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1 answer
13 views

How does the DWA planner handle continuously updated goals?

Hello! I would appreciate some assistance since I am pretty new to ROS. I am running ROS indigo with ubuntu 14.04. I am continuously updating the goal position of my robot (arlo-bot). I am wondering ...
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1 answer
79 views

Dwa failed to produce path in free space

Hi, all. I found a bug for dwa local planner. When the goal is in the -x and -y direction with respect to robot's current pose, the robot moves really slowly, even stop. It outputs "The dwa ...
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1 answer
31 views

costmap parameters - navigation stack

Hello, for me it's unclear what parameters have to/can be in common_costmap_params.yaml, local_costmap_params.yaml and global_costmap_params.yaml This tutorial http://wiki.ros.org/navigation/Tutorials/...
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1 answer
22 views

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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3 answers
343 views

DWA local planner fails to produce path

Hi everybody, As nobody answered to my last question, I re-ask this question cause I am completely blocked! currently, I'm working on 2D navigation with ROS ...
user avatar
0 votes
1 answer
4 views

How to choose different robot footprint type for DWA_local_planner

Hi folks, I wanted to know how the DWA_local_planner computes (or chooses) the foorprint of the robot? is it a dot (or a circle based on the inflation added to the robot)? If yes, my question is that ...
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2 answers
190 views

Difference between DWA local_planner and TEB local_planner

Hi there, I'm new in ROS nav_stack. Currently, I'm working on navigation of a mobile robot (vehicular robot) and I am searching the "best" local planner for our application. Currently, we ...
user avatar
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1 answer
48 views

Why dwa planner can't reach the target rotation?

I've commanded the robot to go to the green arrow position/rotation, so it went there and started rotating CCW until it got near the upper wall, then it got stuck in that position. The question is why ...
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1 answer
57 views

Using the Move_base package with only a local planner

Hi All, I'm currently designing a mobile robot that is required to follow an object within 2 meters. Currently, the mobile robot is able to identify the object, its distance from the object, and its ...
user avatar
0 votes
1 answer
7 views

Is it possible to replace the local planner in the default ROS Navigation stack to one that uses reinforcement learning?

I'm building a driverless car and the current problem is the TEB Local Planner. I was wondering if it is possible to replace with an RL agent, and whether this has been done before. Originally posted ...
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1 answer
3 views

Is it normal behavior for local planners to ignore static obstacles if no pointcloud or laserscan data is being published?

I have tried the following local planners: base_local_planner dwa local planner teb_local_planner and all of them are ignoring obstacles on a static map, The global planners on the other hand never ...
user avatar
0 votes
1 answer
17 views

Robot can not avoid obstacle in navigation stack

Hi, I am using ros-indigo on ubuntu 14.04 LTS. I am trying to use navigation stack, but I have some problem. My robot can move "Initial Pose" to "goal", But can't avoid obstacles. ...
user avatar
0 votes
1 answer
11 views

dwa_local_planner unable to make narrow U turn

Hi all, things work perfectly when the robot goes straight, turning, or making wide U turns. However, I'm facing an issue that the robot stuck at certain location when its trying to make narrow U turn ...
user avatar
0 votes
1 answer
2 views

Hokuyo laser - Turtlebot costmap updation error

Hello people, We have a turtlebot(kobuki base) and have connected Hokuyo laser to it following the instructions from these links. http://wiki.ros.org/turtlebot/Tutorials/hydro/Adding%20a%20Hokuyo%...
user avatar
0 votes
1 answer
11 views

Turtlebot + Frontier Exploration: Turning in Place at the Start

I have curious issues using the frontier_exploration package on my Turtlebot and would appreciate anyone helping me understand better what is going on under the hood. Firstly, this is a simulated run ...
user avatar
0 votes
1 answer
77 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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0 votes
1 answer
7 views

The Crazy DWAPlannerROS is confusing on global path's some parts

Hi Roboticists, Here is video, I'm using dwa_local_planner and it confuses at near to goal position. Especially, when goal point's X and footprint center's X are ...
user avatar
0 votes
1 answer
24 views

Navigation stack Holonomic: true not working

Though i set navigation stack holonomic parameter to true it doesn't generate y velocity. Any suggestions I am using ROS indigo and Ubuntu 14.04. Thank you EDIT: Here are the launch files & output ...
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0 votes
2 answers
24 views

Is there a local planner for car like motions? DWA planner struggles on path's end

Hi, I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner. When the ...
user avatar
0 votes
1 answer
5 views

dwa_local_planner penalize negative x velocities

Hi all, I am using dwa_local_planner as my local planner and there is a parameter penalize_negative_x in the yaml file. In my case, it does not seem to have any ...
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1 answer
5 views

Cause path planning to take wider turns

I am having trouble getting my robot to find a path through doorways. Sometimes the global costmap just doesn't give enough space. A solution is to decrease the inflation_radius, however the result is ...
user avatar
0 votes
1 answer
6 views

dwa_local_planner penalize POSITIVE x

Hello everyone, I am currently working in a student project and want to be able to navigate with the youbot from KUKA. Everything works fine with the dwa_local_planner but in my specific case, I need ...
user avatar
0 votes
2 answers
53 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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0 votes
1 answer
14 views

robot rotates instead of going to the goal (dwa_local_planner)

Please see the following two videos about the behaviour of the robot (video1, video2). The robot sometimes moves pretty well, but sometimes just keep spinning around. Such behaviour really confuses ...
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1 answer
7 views

LocalPathPlanner PoseStamped

Hello Guys, I want to use the data by the localpath planner. The Data Type is nav_msgs/Path and I am using with my node a pointer to get for example the x coordinate: ...
user avatar