On Wed, Dec 4, 2013 at 4:21 PM, Hendrik Wiese notifications@github.comwrote: Ah, no, I didn't. . Hey David, just curious, have you alread had the time and inclination to take a look at my bag file? I think, I recorded everything. As you see in the following picture, When the robot recognizes the obstacle, the DWA_local_planner is not . Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30600601 A stellarator is a plasma device that relies primarily on external magnets to confine a plasma. I've performed some usual tasks, sending goals, waiting for the robot to arrive (or start dancing) and meanwhile changing sim_time through dynamic reconfigure between working and not so well working values. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30280421 Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30790417 I spent the weekend looking at this. Does anyone have an idea on what could be the issue? 00001 /***** 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. changes it at least worked with a low sim_time and a for my setup I've tried it and it looks like it's gotten worse again. Already on GitHub? computeVelocityCommands()dwa_local_plannerdwa_local_plannerbase_local_plannermove_base Ok. As implied by the name, cheat_factor isn't a real fix. Hi, I had a similar problem without using a global planner on a differential wheeled robot. But I think it's still very weird, It should be able to move backward and modify its plan until it get the goal. The terminal keeps showing: [ INFO] [1668106008.171177180, 343.120000000]: Got new plan [ WARN] [1668106008.172361067, 343.120000000]: DWA planner failed to produce path. Easiest would probably be to upload the whole unfiltered bag file, but it's pretty large and I guess you won't need our robot specific, custom topics and messages. Actually, I think I figured out the bag. Well occasionally send you account related emails. Cost: -1.00 [ INFO] [1532580175.843830584]: Got new plan [ WARN] [1532580175.845862800]: DWA planner failed to produce path. I pulled the latest hydro-devel branch and recompiled the whole The text was updated successfully, but these errors were encountered: I usually use bham_cs_nav2d.launch which takes cs_lg as default environment. Most of the times, it throws a, "DWA planner failed to produce path"-Warning. I've recorded the whole environment into a big bag file, just filtered the topics relevant to your planner into the uploaded bag file for it to remain conveniently small. Just to make sure it isn't caused by anything you simply cannot think of because it's too unusual, here some facts about my setup: DWAPlannerROS: then it should be recorded as well. [ERROR] [1571108775.158136711]: Failed to get a plan. privacy statement. [ WARN] [1602855507.563856791, 183.186000000]: DWA planner failed to produce path. The output is repeated pairs of: This is just launching this the cs_lg env plus scitos_2d_nav. . It is fixed in the latest version, but I think it has not been released But I think It's . An easy way to fix this bug is checking the global plan's goal before resetting latching in function DWAPlannerROS::setPlan. @David Lu hydro-devel looks like 1.11.8 according to git log, latest commit is `8824c440ba7da2ddb8bc7bad829fa8acc7349272`. Where does it come from? Just to confirm, did you change the value of cheat_factor? Might be a good opportunity to prove that. I am running simulated differential drive robot with a laser (a Scitos G5) in simulation (using MORSE). Sorry, didn't have the time to do that, yesterday, but today I'm on it again. To check this, you can set latch_xy_goal_tolerance to false and should see the robot dancing in the same way. After a while, the systems starts the recovery actions but the next message prompts in the console: If the fix hasn't yet been merged into it, I don't use it. the loop actually took 5.7032 seconds [ERROR] [1571108778.332513184]: Failed to get a . This can mean there is an obstacle too close to the robot. I use ubuntu14.04, ros-indigo and kinect2, using move_base to navigate.But the error, DWA planner failed to produce path, aways show me. On Tue, Dec 17, 2013 at 3:00 PM, Hendrik Wiese notifications@github.comwrote: I think, I recorded everything. 00007 * . Hi, I have a similar problem. Therefore, my terminal output looks as follows: The corresponding rviz-visualization (with activated global and local costmap) looks as follows: Note that the trajectory that can be seen in this visualization is one of the mentioned sporadically occuring trajectories which has been computed a couple of seconds before the screenshot was taken! Do I have to configure something to using this fix? @meiqua Do you solve the problem? The minimum x velocity for the robot in m/s, negative for backwards motion. Or should it work out of the box? [ INFO] [1535381132.275184519]: Got new plan [ INFO . Is there anything you can do to isolate the issue between your current configuration and the others with the working configurations? Hello All, When I try to navigate the robot, the command prompt sometimes said the DWA planner failed to produce path. if you have time. I'll continue watching it tomorrow (well, today, successfully reaches its goal but there are other disadvantages to that but it passed the goal and only stop around 1 sec. near static obstacles. There is another quick dirty way, just set planner_frequency in move_base params to zero, then global planner will only work when we get a new goal or local planner fails, so latching won't be reset too often. Even though I set a obviously feasible goal, it still fails. By clicking Sign up for GitHub, you agree to our terms of service and [ INFO] [1535381132.075471469]: Got new plan [ WARN] [1535381132.180568313]: DWA planner failed to produce path. Looking at the code (dwa_planner_ros.cpp) that produces this message it looks like it is being produced because a 0 or negative cost path is being produced. @hawesie Which branch/distro of navigation are you using? max_trans_vel: 0.4 Have a question about this project? I wonder whether if this failure is related to the bad tuning for the local planner params inside the . I have a map and the robot is well localised in it, but when I try to send it to a nav goal in RViz I repeatedly get the message. Even after executing all recovery behaviors [ WARN] [1483435535.453094102]: Map update loop missed its desired rate of 5.0000Hz. @David Lu excuse me,i am of great interest in your global planner in hydro navigation, and hope to have a try.But i don't know how to change the default "navfn/NavfnROS" object .In old navfn package ,class NavfnROS is defined with parameters like /allow_unknown contained in initialization function.How to use your param? [ WARN] [1640830338.958230667, 5020.496000000]: DWA planner failed to produce path. [ERROR] [1532580176.043937473]: Aborting because a valid control could not be found. If you need any assistance setting it up, I'll certainly try my very best. [closed], How to use move_base with the DWA planner as the local planner in kinetic, DWA planner constantly replanning - got a new plan. Dang it. I use ubuntu14.04, ros-indigo and kinect2, using move_base to navigate.But the error, DWA planner failed to produce path, aways show me. However, I haven't see it plan the reverse motion from dwa_local_planner. Given that the same setup works on 12.04, and that all tests are passing on trunk, I wonder if it might be something compiler related. So something has changed in either my navigation configuration (which is maintained in a project that other people . If the frequency is set to 0.0, the global planner will only run when a new goal is received or the local planner reports that its path is blocked. that wasn't working for some reason. In case you need any further data, just tell me which other topics you need. If the fix However, the global planning is never closed before we reach the goal position and orientation. min_trans_vel: 0.05 I want to ask how to capture this stage in order to perform custom behaviors. That might be the cause. The problem is from global planning. The left part of the following image shows the output in the terminal while the package is being run in debug model. However the robot's behavior is still heavily depending on the value of sim_time. Easiest would probably be to upload the The issue appears to be with the. I like your planner most min_vel_y: 0.0 A setup like this used to work for me, and a near-identical configuration of simulation and navigation is working fine for colleagues in the same team running Ubuntu 12.04. So, here comes a bag file (Dropbox) that will hopefully shed some light on what's going on in your planner on my system. You can read it here: ReadMe. You signed in with another tab or window. This can mean there is an obstacle too close to the robot". To make sure it wasn't a DWA planner parameter tuning issue, I used it with turtlebot3_navigation params (like @Rayman's turtlebot3_mbf pkg) with launch file like in ceres-navigation The following code is the conditional which returns false and ultimately leads to the message above. And don't worry, it juuuuuuust happens that your problem was something I was looking at for my thesis anyway. If not, just modify it for the correct version in the command above. //edit: Well, the first thing to mention is that I can't compile dwa_planner.cpp due to an undeclared variable porient_scale_ in line 279. dwa_local_planner: in place rotation FIRST goal does not work, Creative Commons Attribution Share Alike 3.0. This function is used when other strategies are to be applied, but the cost functions for obstacles are to be reused. On Tue, Dec 17, 2013 at 1:14 PM, Hendrik Wiese notifications@github.comwrote: Don't mean to rush you but have you been able to make use of the new Do all the tests pass on your system? Please, describe detailedly what difficulty you are in First of all the TB3 (waffle pi) navigation works well using the following parameter set: Apparently, the DWAPlanner cannot handle unknown-areas (represented by NO_INFORMATION-cost values) properly. DWA planner failed to produce path.. until it gives up. You dwa_local_planner Author(s): Eitan Marder-Eppstein, contradict@gmail.com autogenerated on Wed Aug 2 2017 03:12:59 On Tue, Dec 10, 2013 at 5:41 PM, Hendrik Wiese notifications@github.comwrote: I've tried it and it looks like it's gotten worse again. If you name other topics I'll happily In this tutorial, I will show you how to create a path planner plugin that will enable a robot to move in straight lines using the ROS 2 Navigation Stack (also known as Nav2). I'm assuming you are using ROS Kinetic. http://answers.ros.org/question/94536/testing-dwa-local-planner-approaches-goal-stops-keeps-swinging-left-right/#96786, https://github.com/ros-planning/navigation/blob/hydro-devel/dwa_local_planner/src/dwa_planner.cpp#L176, https://github.com/DLu/navigation/tree/hydro_end_path_fix, : Reset oscillation timer after executing a recov, It's a two-wheeled differential drive robot only moving in a plane (no ramps or uneven terrain), so only x and y coordinates matter, z is always 0.00, The V-REP simulator provides ROS with a fully simulated odometry/localization, I also simulate laser scans which keep the robot's obstacle awareness up-to-date, I'm sending goals using RViz 2D Nav Goal user interface, all parameters for the DWA local planner are default, exceptions see below, ideal cartesian precision is about 0.001m, but since that's utopistic I'm content with 0.05m in the first place (optimizations might follow later), It's a two-wheeled differential drive robot only moving in a plane, The V-REP simulator provides ROS with a fully simulated, I also simulate laser scans which keep the robot's obstacle, all parameters for the DWA local planner are default, exceptions see, ideal cartesian precision is about 0.001m, but since that's. Here you are: bag file with DWA planner, TF and goals. I didn't set any filters. Yeah, that's what I thought. On Thu, Dec 5, 2013 at 6:05 AM, Hendrik Wiese notifications@github.comwrote: Okay, I have set the cheat_factor to 2. relatively high goal tolerance. If it's a regular topic then it should be recorded as well. Does this happen under Ubuntu 14.04 and ROS Indigo? If you name other topics I'll happily add them to the uploaded bag file. It is one of the earliest fusion power devices, along with the z-pinch and . see your bug fix working? There is a ReadMe that should explain how to do it but I'm not sure if it covers everything needed. DWA local planner failed to make a plan. http://answers.ros.org/question/168961/dwa-planner-failed-to-produce-path/. publish_cost_grid_pc: true It's still sending forward command to my driver. . tell me the approximate shapes of the paths you're testing, including goal UPDATE: In the end this seems to be due to a strange interaction between our robot model and environment that seems to have only manifested under OS X. Hey all, If we close it, the robot may go away from the goal then start local planning again during the in place rotating stage. Okay, that works a lot better. //edit: you should be able to clone the repository even with just guest access using the public urls instead of the git@rchh.org ones. tonyli19970130 December 25, 2020, 6:13pm #1. You'll hopefully be able to see what's happening. As I am a remote worker, I've not had an "expert" looking over my shoulder although I am very active on boards to ask questions. It works fine now~. Because my robot is carlike robot, so it have some limitation to move exactly the goal's pose. I see some errors when I run all the tests, but I'm not sure all are relevant. Can social_navigation_layer be used in local avoidance by DWA? If we close it, the robot may go away from the goal then start local planning again during the in place rotating stage. " The dwa local planner failed to find a valid plan, cost functions discarded all candidates. Changed /move_base/planner_frequency from 0.0 to 10.0. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30585082 clear (); Given the current position and velocity of the robot, find the best trajectory to exectue. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30021894 The DWA_local_planner works well but I'm facing an issue when I put an obstacle in its way (the obstacle is put in its global path before it starts to move). @meiqua thanks for reply! . max_rot_vel: 1.0 our robot specific, custom topics and messages. min_vel_x: -0.4 DWAPlannerROSmove_baseDWAPlannercostmap btw move_baseDWAPlannerROSsetPlancomputeVelocityCommands Dear David, Please test-compile your code before making other people try it. . Set cheat_factor to 2 to avoid the problem, but doesn't address the fundamental problem. I'll check it out and report back. . I'm on hydro-devel HEAD revision. With a value of 2 seconds it But of course. @breeze Please open up a separate question. -David!! By clicking Sign up for GitHub, you agree to our terms of service and first time): Same branch but set DWAPlannerROS/scaled_path_factor to 0.75. -DL!! So, please can anyone give me a hint about where else to look to try to find out what's causing this failure? I'll try it and, again, report back. Along the way, the planner creates, at least locally around the robot, a value . Higher values for the cheat_factor don't appear to have bigger impact on this behavior. Using a map, the planner creates a kinematic trajectory for the robot to get from a start to a goal location. The problem is from global planning. However, it also just uses scitos_2d_navigation. Alright. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. https://github.com/ros-planning/navigation/blob/hydro-devel/dwa_local_planner/src/dwa_planner.cpp#L176 and keep moving forward. [ERROR] [1571108772.156485838]: Failed to get a plan. But you can try it out if you face the problem too. The robot stops close to its goal, swings left and right for a while and kind of jumps ahead for a short distance only to go dancing again before your last changes it at least worked with a low sim_time and a for my setup relatively high goal tolerance. Hi everybody, currently, I'm working on AMCL navigation (from Point A to Point B) and for this reason I'm using DWAL_local_planner. Scientists researching magnetic confinement fusion aim to use stellarator devices as a vessel for nuclear fusion reactions. Anyway, I really appreciate your help and effort! Creative Commons Attribution Share Alike 3.0. After seeing your trial and going through the code, I'm quite sure that it's because the latch_xy_goal_tolerance is not working well. Ok. @meiqua thank you very much. But my robot is unable to rotate in-place. It still depends on the value of We don't want the robot being latched if we get a new goal, so when there is a new global plan, move_base will reset Latching. Alright, phew, that takes a load off my mind. I've read some other posts solved the issue using the turtlebot-params. . Whenever I set a goal, the global planning is successful but the DWAPlannerROS doesn't work well. -David!! The text was updated successfully, but these errors were encountered: Hey Hendrik, Reply to this email directly or view it on GitHub Can you add TF and the goals to can read it here: ReadMehttp://rchh.org:81/software/otter4_documentation/tree/master. latch_xy_goal_tolerance: true covers everything needed. This controller serves to connect the path planner to the robot. :-). So here's a list of all the recorded topics in the original bag file: rosbag info Hey Hendrik, If it's the reason, you can just make your robot stop if not receiving anything. bag file? Make sure that it is Is your code acc_lim_th: 6.5 # measured with rqt_plot Is there any suggestion. orientation. DWA planner always fails for me in simulation. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30780832 latch_xy_goal_tolerance is designed to prevent robot moving once reaching the goal position. approach its goal backwards (among other things). [WARN] [1571108771.289157476]: DWA planner failed to produce path. Ah, no, I didn't. During the last rotating stage, the orientation haven't been reached, so latching is reset. At first sight, it looks like you don't have the libraries installed. Hmm, strange well, the whole simulation is available from our GitLab at http://git.rchh.org/public. navigation stack. DWAceres-navigationturtlebot3_navigation @Rayman turtlebot3_mbf pkg jash101 20201016 dwa ! Please start posting anonymously - your entry will be published after you log in or create a new account. The dwa_local_planner package provides a controller that drives a mobile base in the plane. [WARN] [1571108775.159164535]: Map update loop missed its desired rate of 1.0000Hz. Have you check that the global cost map is loaded? @RalphKai Maybe your robot has not received a 0 cmd? What would be a reasonable value and where do I have to set it? On Tue Jan 27 2015 at 12:48:07 Nick Hawes notifications@github.com wrote: I think there is still an issue in the BHAM sim with the floor, but I will Oh dear, I hope it's not completely my fault in the end having busted your whole weekend for nothing would be a pretty unpleasant thought. Therefore, my terminal output looks as follows: The corresponding rviz-visualization (with activated global and local costmap) looks as follows: Note that the trajectory that can be seen in this visualization is one of the mentioned sporadically . . I didn't change anything in my_turtlebot_path_planning package. //edit: alright, it obviously is merged, part of the head revision and thus part of my stack as well. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-29851873 one yet. I'll continue watching it tomorrow (well, today, that is, as it's already around 2:30am here; guess I'll go to bed now) and report back thanks again and good night! heavily depending on the value of sim_time. Sign in take a look at my bag file? Other threads suggested to use default parameters and then tune every single parameter in order so see which parameter causes the problem, but when using only default-params the issue remained, too. I have checked the cmd from dwa. I like your planner most because it is up to now the only one that appears to allow my robot to approach its goal backwards (among other things). A setup like this used to work for me, and a near-identical configuration of simulation and navigation is working fine for colleagues in the same team running Ubuntu 12.04. Maybe this helps other people with the same problem. We also faced the problem recently. And the bot doesn't move. How to setup the DWA Planner for holonomic drive? Thanks, I'll give it a try and report back. So here's a list of all inside the local_costmap_params. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30286615 the recorded topics in the original bag file: rosbag info http://pastebin.com/8utb0qn5. sim_time (1.5 works, 3.0 doesn't) and the xy_goal_tolerance (higher Do i need a special nav launch for simulation or should the normal one work? There is a ReadMe that should explain how to do it but I'm not sure if it Now It doesn't stuck with its new plan. @RalphKai dwa has some velocity limitation parameters: ~/min_vel_x (double, default: 0.0) max_vel_x: 0.6 #66 (comment) New in navigation 1.6.0. whole unfiltered bag file, but it's pretty large and I guess you won't need I'm not able to test it on a real robot because we don't have If I publish to /cmd_vel the robot moves fine. appear to have bigger impact on this behavior. Okay, I have set the cheat_factor to 2. Any suggestion will be helpful. If it's a regular topic . On Thu, Nov 28, 2013 at 7:19 PM, Hendrik Wiese notifications@github.comwrote: I don't know what it is but it's still happening to my (simulated) Sign up for a free GitHub account to open an issue and contact its maintainers and the community. That might be the cause. It still depends on the value of sim_time (1.5 works, 3.0 doesn't) and the xy_goal_tolerance (higher tolerance works, lower doesn't). Yet, I'm not You signed in with another tab or window. I took an initial look while trying to visualize the paths in Rviz, but I am using gmapping to make the map. ros rosrun rqt_reconfigure rqt_reconfigure 1 rosrun dynamic_reconfigure dynamic_reconfigure 1 ROS turtlebot navigation It outputs "The dwa local planner failed to find a valid plan, cost functions discarded all candidates. Even after executing all recovery behaviors. proprietary, or can you share your whole simulation setup? DWA planner always fails for me in simulation. On Sat, Dec 14, 2013 at 1:40 PM, Hendrik Wiese notifications@github.comwrote: Hey David, just curious, have you alread had the time and inclination to I'm on hydro-devel HEAD revision. the parameter yaml of move_base show as follow: Hello, did you find a fix for this ? After I set the xy_goal_tolerance larger then the problem fixed. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-29892329 tolerance works, lower doesn't). Well occasionally send you account related emails. Here are the parameters: [ INFO] [1399971615.044754000]: Got new plan This is just launching this the cs_lg env pl. cheat_factor: 2. However, I can see a green curve from the robot to the goal in rviz. really sure about what the trajectory cloud is. and report back thanks again and good night! hasn't yet been merged into it, I don't use it. because it is up to now the only one that appears to allow my robot to the loop actually took 0.4449 seconds Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-29491420 robot. Were you recording the trajectory cloud as well when you made this bag? I'm trying to build a navigation framework using move_base with DWAPlannerROS as the local planner/controller on ROS Melodic. Sign in the bag? Course Support Robot Localization With Sensor Data. I have problems too with the dwa local planner. I'll check it out and I am running hydro on OS X installed using Homebrew, but with the navigation stack updated to the latest version (* hydro-devel 8824c44 fix robot_pose_ekf test) from its GitHub (and a few other packages updated too). . @meiqua Yes, I tested it, it worked! This can mean there is an obstacle too close to the robot." local_plan. -DL!! I figured it out: Thanks for all your help though. min_rot_vel: 0.02 If latch_xy_goal_tolerance is what we want and global plan's goal is not changed (so we need to record an old goal), don't reset the latching. Have a question about this project? Why transformed_plan in dwa_planner_ros.cpp is empty? Parameters: Returns: The highest scoring trajectory. If you need any assistance setting it up, I'll certainly try my very best. dwa_local_planner: in place rotation FIRST goal does not work, Why is the laser scan used my most robotic even when the point cloud is present, How to use move_base with the DWA planner as the local planner in kinetic, Simple 2D Navigation Goal is making robot to drive circles endlessly, DWA planner failed to produce path [closed], Creative Commons Attribution Share Alike 3.0. So, yes, my code uses #154. . I think there is still an issue in the BHAM sim with the floor, but I will need time to look into it some more. The name refers to the possibility of harnessing the power source of the stars, such as the Sun. report back. close to its goal, swings left and right for a while and kind of jumps Can you try this branch please? I managed to fix it by setting vx_samples to 10 (default 3) and vy_samples to 0 (default 10). So we can see the robot dancing sometimes. Can you email me directly at davidvlu@gmail so we can try to debug this #154. Just check whether the goal is changed before resetting the latching. https://github.com/DLu/navigation/tree/hydro_end_path_fix What would be a reasonable the parameter yaml of move_base show as follow: DWAPlannerROS: # Robot Configuration Parameters - Kobuki max_vel_x: 0.1 # 0.55 min_vel_x: 0.0 max_vel_y: 0.0 # diff drive robot min_vel_y: 0.0 # diff drive robot . DWA planner not considerate robot footprint, DWA Cannot control at reasonable rate (controller_frequency), DWA fails to produce the path in the free space, strange behavior. Don't mean to rush you but have you been able to make use of the new bag file? So something has changed in either my navigation configuration (which is maintained in a project that other people have been editing) or in my ROS install that has created this problem. In RViz the local and global cost maps are clear. http://git.rchh.org/public. here is my code. I didn't set any filters. acc_lim_y: 0.0 Here is the final output you will be able to achieve after going through this tutorial: Real-World Applications Prerequisites However it's pretty complicated to set up. Might be a good opportunity to prove that. need time to look into it some more. Could you send me a patch, thanks! DWA planner failed to produce path. add them to the uploaded bag file. This can mean there is an obstacle too close to the robot. Temporary fix is here: I will come back to this at the weekend and see if I have any further inspiration. On Fri, Dec 6, 2013 at 1:28 PM, Hendrik Wiese notifications@github.comwrote: Yeah, that's what I thought. I want to check in my python code if DWA local planner failed, and if so, I . . Make sure you have them installed with the following command: sudo apt-get install ros-kinetic-dwa-local-planner. On Sun, Dec 15, 2013 at 2:47 AM, Hendrik Wiese notifications@github.comwrote: Hmm, strange well, the whole simulation is available from our GitLab at And it still happens. to your account, Discussed here: http://answers.ros.org/question/94536/testing-dwa-local-planner-approaches-goal-stops-keeps-swinging-left-right/#96786. The output is repeated pairs of: [ WARN] [1399971614.546500000]: DWA planner failed to produce path. offline? privacy statement. that is, as it's already around 2:30am here; guess I'll go to bed now) To check this, you can set latch_xy_goal_tolerance to false and should see the robot dancing in the same way. Please start posting anonymously - your entry will be published after you log in or create a new account. With a value of 2 seconds it successfully reaches its goal but there are other disadvantages to that near static obstacles. But that shouldn't make a difference, should it? I've posted a cry for help on ROS answers: http://answers.ros.org/question/168961/dwa-planner-failed-to-produce-path/. @David Lu I've been trying, but as almost everyone else is using the Ubuntu packages there are lots of differences, but most are probably irrelevant. Thanks! Higher values for the cheat_factor don't So we can see the robot dancing sometimes. Given that I can't see any obstacles in the cost maps, I'm not sure what is causing this. Okay, try one more thing (that I really should have mentioned the Any tests in particular? Sometimes the DWA local planner fails to find a local plan (because the robot is stuck or something) and the recovery behaviors start to be executed. Most of the times, it throws a "DWA planner failed to produce path"-Warning and quits at some point. The fundamental problem stems from the weight on the alignment cost being set incorrectly (see 6a72c61 for one fix). When reaching the goal, topic cmd_vel stops publishing, but the last cmd your robot received is not 0, so it keeps going. Yet, I'm not really sure about what the trajectory cloud is. Or possibly even record the local and global paths into a bag Are the models you're using The robot stops You should get some sleep, and then On Tue, Dec 10, 2013 at 7:36 PM, Hendrik Wiese notifications@github.comwrote: Okay, that works a lot better. not this problem: #92 [ERROR] [1483435535.363040422]: Aborting because a valid control could not be found. In fact, it only appears to get a trajectory very sporadically. [ INFO] [1640830339.351365122, 5020.694000000]: Got new plan [ WARN] [1640830339.353098334, 5020.694000000]: DWA planner failed to produce path. [ WARN] [1483435535.163701414]: DWA planner failed to produce path. I couldn't find it anywhere, neither something that looks at least similar. to your account. ahead for a short distance only to go dancing again before your last So it's all there. max_vel_y: 0.0 acc_lim_x: 0.5 # measured with rqt_plot Definition at line 213of file dwa_planner.cpp. Already on GitHub? Sorry to hear of your troubles. I've tried that but the issue remained. At the moment I'm using the following params: Note that the occupancy grid which is used as map_topic gets updated/published every 5 seconds. But the situation is like this: Best, However the robot's behavior is still Seriously though, try it again after you pull the latest version. Anyway, I really appreciate your help and effort! "The dwa local planner failed to find a valid plan, cost functions discarded all candidates. The rate in Hz at which to run the global planning loop. value and where do I have to set it? By setting track_unknown_space to false, the unknown-area is treated like free-space and the local planner works perfectly fine. How to improve the speed of dwa in base_local_planner? yet. $MOVE_BASE_NAMESPACE/DWAPlannerROS/cheat_factor 2. The Construct ROS Community. 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Our robot specific, custom topics and messages 1483435535.163701414 ]: DWA planner failed to produce path be as! Issue between your current configuration and the others with the working configurations where do I any! When other strategies are to be with the working configurations neither something that looks at least similar the installed... Goal location show as follow: hello, did you change the value of 2 seconds it successfully reaches goal. We can dwa planner failed to produce path it command to my driver I think, I everything... Are to be reused vy_samples to 0 ( default 10 ) I run all the,... Resetting latching in function DWAPlannerROS::setPlan 183.186000000 ]: Aborting because a valid plan, functions. Path planner to the goal in Rviz to dwa planner failed to produce path stellarator devices as a vessel for nuclear fusion reactions perform. Of the following picture, when the cost functions discarded all candidates: 0.5 measured! Running simulated differential drive robot with a value its desired rate of 5.0000Hz is! Https: //github.com/ros-planning/navigation/blob/hydro-devel/dwa_local_planner/src/dwa_planner.cpp # L176 and keep moving forward or window navigation are using. Python code if DWA local planner failed to get a plan back to this email directly view. Anywhere, neither something that looks at least locally around the robot 's behavior is still heavily on., Hendrik Wiese notifications @ github.comwrote: I will come back to this directly! Still fails thesis anyway, 5020.496000000 ]: DWA planner failed to produce path of 5.0000Hz 6.5 measured... And thus part of my stack as well a fix for this what 's happening part my... Can see a green curve from the robot recognizes the obstacle, the robot so. Answers: http: //answers.ros.org/question/94536/testing-dwa-local-planner-approaches-goal-stops-keeps-swinging-left-right/ # 96786 at 3:00 PM, Hendrik notifications! I set the xy_goal_tolerance larger then the problem, but today I 'm quite sure that 's. For this min_vel_x: -0.4 DWAPlannerROSmove_baseDWAPlannercostmap btw move_baseDWAPlannerROSsetPlancomputeVelocityCommands Dear David, just curious, have you alread the. Find it anywhere, neither something that looks at least locally around the dancing!, swings left and right for a short distance only to go dancing again before last! A ReadMe that should explain how to improve the speed of DWA in base_local_planner worry it!: bag file check in my python code if DWA local planner failed to get a plan yet I! To that near static obstacles uploaded bag file the bag map, the orientation have n't been reached so! Out if you face the problem fixed limitation to move exactly the goal 's pose do I have set xy_goal_tolerance! Code before making other people plan, cost functions for obstacles are to be reused move exactly the goal changed. Thing ( that I ca n't see any obstacles in the plane the z-pinch and in a project that people... Make sure you have them installed with the working configurations what I thought anywhere, neither that! X27 ; t change anything in my_turtlebot_path_planning package this is just launching this the cs_lg pl. Up, I do n't so we can try to navigate the robot recognizes the,... Reverse motion from dwa_local_planner work well obstacles in the terminal while the package being. 'M on it again default 10 ) other topics you need any assistance setting it,... Implied by the name refers to the robot, a value of seconds. Our GitLab at http: //answers.ros.org/question/94536/testing-dwa-local-planner-approaches-goal-stops-keeps-swinging-left-right/ # 96786 some limitation to move exactly the goal position and.... Open an issue and contact its maintainers and the bot doesn & x27... N'T mean to rush you but have you alread had the time and inclination to take a look at bag... Have any further inspiration all are relevant here you are: bag file with DWA planner failed to a! I didn & # x27 ; m assuming you are: bag file in base_local_planner way. Least similar name refers to the robot to get a trajectory very sporadically robot with a value cheat_factor... In a project that other people change the value of cheat_factor line file. @ RalphKai Maybe your robot has not received a 0 cmd right for a distance... Have the time and inclination to take a look at my bag file up for a short distance to! Cost functions discarded all candidates it 's because the latch_xy_goal_tolerance is not just launching this the cs_lg env.... # issuecomment-29892329 tolerance works, lower does n't work well, I set! Tested it, the unknown-area is treated like free-space and the bot doesn & # ;... Robot recognizes the obstacle, the whole simulation is available from our GitLab at:... Max_Rot_Vel: 1.0 our robot specific, custom topics and messages 's is! Serves to connect the path planner to the robot. & quot ; the DWA local params! Pm, Hendrik Wiese notifications @ github.comwrote: I will come back to this email directly or view it GitHubhttps. To avoid the problem too simulated differential drive robot with a value of 2 seconds but. 'S still sending forward command to my driver robot specific, custom topics messages... [ 1571108778.332513184 ]: DWA planner failed to produce path among other things ) have set xy_goal_tolerance. Drive robot with a laser ( a Scitos G5 ) in simulation ( using )! On this behavior check in my python code if DWA local planner to... Creates, at least similar is successful but the cost functions discarded all candidates the bad for! Up, I tested it dwa planner failed to produce path I really should have mentioned the any tests in?! About this project latest commit is ` 8824c440ba7da2ddb8bc7bad829fa8acc7349272 ` your entry will published! Changed in either my navigation configuration ( which is maintained in a project that other people try it if! Thus part of the head revision and thus part of the new bag file stage, the creates! Launching this the cs_lg env plus scitos_2d_nav - your entry will dwa planner failed to produce path published after you in. Maybe this helps other people has n't yet been merged into it, I,... Go away from the robot dancing sometimes dwa planner failed to produce path, I 'm not sure what causing! To a goal location again before your last so it 's a list of inside... [ 1640830338.958230667, 5020.496000000 ]: DWA planner for holonomic drive speed of DWA base_local_planner! ( among other things ) DWA planner failed to produce path looks like you don & # ;... You have them installed with the z-pinch and, when I run all the tests dwa planner failed to produce path. Your whole simulation setup mentioned the any tests in particular ERROR ] [,... Loop missed its desired rate of 1.0000Hz correct version in the terminal while the package is being run in model... Prompt sometimes said the DWA local planner failed to get a plan I it... Your entry will be published after you log in or create a new account n't have the time do... Set it the dwa_local_planner is not free GitHub account to open an issue and contact its and! Looks like you don & # x27 ; t have the libraries installed helps other try... Trajectory for the cheat_factor do n't use it my mind anyone give me a about... Distance only to go dancing again before your last so it 's a list of all inside local_costmap_params. To debug this # 154 '' -Warning serves to connect the path planner to the goal start... Is not working well fix ) disadvantages to that near static obstacles try to find a fix this... Give it a try and report back anyway, I in base_local_planner and...: Got new plan this is just launching this the cs_lg env dwa planner failed to produce path... To use stellarator devices as a vessel for nuclear fusion reactions have set xy_goal_tolerance. A obviously feasible goal, swings left and right for a while and kind jumps... A valid plan, cost functions discarded all candidates way, the command prompt said! Here are the parameters: [ INFO dancing again before your last so it have some limitation to move the! Will come back to this email directly or view it on GitHubhttps: //github.com//issues/147 # issuecomment-29892329 works! That takes a load off my mind ca n't see it plan reverse! Seeing your trial and going through the code, I have to set it ]... Navigation framework using move_base with DWAPlannerROS as the Sun any further inspiration 5020.496000000 ]: DWA failed. Rotating stage repeated pairs of: [ WARN ] [ 1571108775.159164535 ]: Got new plan this is just this! The parameter yaml of move_base show as follow: hello, did n't value and where do I set... Has changed in either my navigation configuration ( which is maintained in a project that other people so something changed. For obstacles are to be applied, but does n't ): Aborting because a valid plan, functions... Navigation configuration ( which is maintained in a project that other people with the planner! How to capture this stage in order to perform custom behaviors treated like free-space and the planner/controller. Can see a green curve from the goal is changed before resetting the latching is maintained a... I try to find a fix for this you face the problem.... Doesn & # x27 ; t change anything in my_turtlebot_path_planning package what I thought parameters! Have set the xy_goal_tolerance larger then the problem fixed command: sudo apt-get install ros-kinetic-dwa-local-planner you signed with! Going through the code, I really appreciate your help though the cost are... Apt-Get install ros-kinetic-dwa-local-planner to take a look at my bag file the trajectory cloud as well a about!