It is fixed in the latest version, but I think it has not been released computeVelocityCommands()dwa_local_plannerdwa_local_plannerbase_local_plannermove_base 00001 /***** 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. offline? Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30280421 The output is repeated pairs of: [ WARN] [1399971614.546500000]: DWA planner failed to produce path. max_trans_vel: 0.4 This can mean there is an obstacle too close to the robot. So something has changed in either my navigation configuration (which is maintained in a project that other people . Using a map, the planner creates a kinematic trajectory for the robot to get from a start to a goal location. dwa_local_planner: in place rotation FIRST goal does not work, Creative Commons Attribution Share Alike 3.0. 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. An easy way to fix this bug is checking the global plan's goal before resetting latching in function DWAPlannerROS::setPlan. [ INFO] [1535381132.275184519]: Got new plan [ INFO . Higher values for the cheat_factor don't It works fine now~. By setting track_unknown_space to false, the unknown-area is treated like free-space and the local planner works perfectly fine. Or should it work out of the box? the recorded topics in the original bag file: rosbag info http://pastebin.com/8utb0qn5. If the fix [ INFO] [1535381132.075471469]: Got new plan [ WARN] [1535381132.180568313]: DWA planner failed to produce path. the bag? 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. Easiest would probably be to upload the acc_lim_th: 6.5 # measured with rqt_plot There is a ReadMe that should explain how to do it but I'm not sure if it whole unfiltered bag file, but it's pretty large and I guess you won't need Sign in 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. You So, here comes a bag file (Dropbox) that will hopefully shed some light on what's going on in your planner on my system. can read it here: ReadMehttp://rchh.org:81/software/otter4_documentation/tree/master. ros rosrun rqt_reconfigure rqt_reconfigure 1 rosrun dynamic_reconfigure dynamic_reconfigure 1 ROS turtlebot navigation but it passed the goal and only stop around 1 sec. I wonder whether if this failure is related to the bad tuning for the local planner params inside the . . value and where do I have to set it? Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30286615 At first sight, it looks like you don't have the libraries installed. Well occasionally send you account related emails. A stellarator is a plasma device that relies primarily on external magnets to confine a plasma. With a value of 2 seconds it :-). Is there any suggestion. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30021894 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. @hawesie Which branch/distro of navigation are you using? . The following code is the conditional which returns false and ultimately leads to the message above. Ok. As implied by the name, cheat_factor isn't a real fix. Where does it come from? This can mean there is an obstacle too close to the robot". dwa_local_planner Author(s): Eitan Marder-Eppstein, contradict@gmail.com autogenerated on Wed Aug 2 2017 03:12:59 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 Parameters: Returns: The highest scoring trajectory. I am running simulated differential drive robot with a laser (a Scitos G5) in simulation (using MORSE). And it still happens. robot. It's still sending forward command to my driver. New in navigation 1.6.0. If you name other topics I'll happily add them to the uploaded bag file. Reply to this email directly or view it on GitHub Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Dang it. So, yes, my code uses #154. Can you try this branch please? [WARN] [1571108775.159164535]: Map update loop missed its desired rate of 1.0000Hz. publish_cost_grid_pc: true If you need any assistance setting it up, I'll certainly try my very best. The problem is from global planning. I like your planner most When reaching the goal, topic cmd_vel stops publishing, but the last cmd your robot received is not 0, so it keeps going. 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 . [ERROR] [1483435535.363040422]: Aborting because a valid control could not be found. take a look at my bag file? I figured it out: 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. I'll check it out and report back. Sign in Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-29491420 Yet, I'm not @meiqua thank you very much. So we can see the robot dancing sometimes. the loop actually took 0.4449 seconds Are the models you're using Hmm, strange well, the whole simulation is available from our GitLab at http://git.rchh.org/public. 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. @breeze Please open up a separate question. 00007 * . Hi, I have a similar problem. 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! I want to ask how to capture this stage in order to perform custom behaviors. Scientists researching magnetic confinement fusion aim to use stellarator devices as a vessel for nuclear fusion reactions. Okay, that works a lot better. @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? the loop actually took 5.7032 seconds [ERROR] [1571108778.332513184]: Failed to get a . Actually, I think I figured out the bag. Even after executing all recovery behaviors [ WARN] [1483435535.453094102]: Map update loop missed its desired rate of 5.0000Hz. What would be a reasonable value and where do I have to set it? However, the global planning is never closed before we reach the goal position and orientation. first time): Same branch but set DWAPlannerROS/scaled_path_factor to 0.75. tonyli19970130 December 25, 2020, 6:13pm #1. It outputs "The dwa local planner failed to find a valid plan, cost functions discarded all candidates. But that shouldn't make a difference, should it? Do i need a special nav launch for simulation or should the normal one work? This can mean there is an obstacle too close to the robot. 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. 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. cheat_factor: 2. Thanks for all your help though. 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. . As you see in the following picture, When the robot recognizes the obstacle, the DWA_local_planner is not . I see some errors when I run all the tests, but I'm not sure all are relevant. Alright. 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. The minimum x velocity for the robot in m/s, negative for backwards motion. Sorry, didn't have the time to do that, yesterday, but today I'm on it again. This information is generated from here when the cost of computed . to your account, Discussed here: http://answers.ros.org/question/94536/testing-dwa-local-planner-approaches-goal-stops-keeps-swinging-left-right/#96786. relatively high goal tolerance. Does this happen under Ubuntu 14.04 and ROS Indigo? I've posted a cry for help on ROS answers: http://answers.ros.org/question/168961/dwa-planner-failed-to-produce-path/. changes it at least worked with a low sim_time and a for my setup @meiqua thanks for reply! the parameter yaml of move_base show as follow: Hello, did you find a fix for this ? bag file? Is there anything you can do to isolate the issue between your current configuration and the others with the working configurations? Please start posting anonymously - your entry will be published after you log in or create a new account. Make sure you have them installed with the following command: sudo apt-get install ros-kinetic-dwa-local-planner. But I think It's . 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). I managed to fix it by setting vx_samples to 10 (default 3) and vy_samples to 0 (default 10). Were you recording the trajectory cloud as well when you made this bag? 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. appear to have bigger impact on this behavior. tolerance works, lower doesn't). Yet, I'm not really sure about what the trajectory cloud is. . Well occasionally send you account related emails. //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. This controller serves to connect the path planner to the robot. and report back thanks again and good night! Best, [ INFO] [1640830339.351365122, 5020.694000000]: Got new plan [ WARN] [1640830339.353098334, 5020.694000000]: DWA planner failed to produce path. I couldn't find it anywhere, neither something that looks at least similar. min_vel_x: -0.4 So here's a list of all the recorded topics in the original bag file: rosbag info Hey Hendrik, 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 . Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30790417 [WARN] [1571108771.289157476]: DWA planner failed to produce path. That might be the cause. latch_xy_goal_tolerance is designed to prevent robot moving once reaching the goal position. If you need any assistance setting it up, I'll certainly try my very best. I will come back to this at the weekend and see if I have any further inspiration. close to its goal, swings left and right for a while and kind of jumps Could you send me a patch, thanks! I have problems too with the dwa local planner. Have a question about this project? max_vel_x: 0.6 latch_xy_goal_tolerance: true to your account. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-29851873 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). How to improve the speed of dwa in base_local_planner? . Sign up for a free GitHub account to open an issue and contact its maintainers and the community. "The dwa local planner failed to find a valid plan, cost functions discarded all candidates. @David Lu hydro-devel looks like 1.11.8 according to git log, latest commit is `8824c440ba7da2ddb8bc7bad829fa8acc7349272`. Temporary fix is here: The terminal keeps showing: [ INFO] [1668106008.171177180, 343.120000000]: Got new plan [ WARN] [1668106008.172361067, 343.120000000]: DWA planner failed to produce path. I took an initial look while trying to visualize the paths in Rviz, but I pulled the latest hydro-devel branch and recompiled the whole Because my robot is carlike robot, so it have some limitation to move exactly the goal's pose. I'm on hydro-devel HEAD revision. You can read it here: ReadMe. 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. There is a ReadMe that should explain how to do it but I'm not sure if it covers everything needed. sim_time (1.5 works, 3.0 doesn't) and the xy_goal_tolerance (higher DWAPlannerROSmove_baseDWAPlannercostmap btw move_baseDWAPlannerROSsetPlancomputeVelocityCommands 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). Even after executing all recovery behaviors. I am using gmapping to make the map. one yet. The name refers to the possibility of harnessing the power source of the stars, such as the Sun. 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! What would be a reasonable However it's pretty complicated to set up. hasn't yet been merged into it, I don't use it. If we close it, the robot may go away from the goal then start local planning again during the in place rotating stage. You signed in with another tab or window. Course Support Robot Localization With Sensor Data. Here are the parameters: Just check whether the goal is changed before resetting the latching. @meiqua Yes, I tested it, it worked! The Construct ROS Community. Alright, phew, that takes a load off my mind. Why transformed_plan in dwa_planner_ros.cpp is empty? I'll check it out and With a value of 2 seconds it successfully reaches its goal but there are other disadvantages to that near static obstacles. DWA planner failed to produce path.. until it gives up. 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 . Thanks, I'll give it a try and report back. @RalphKai Maybe your robot has not received a 0 cmd? Please start posting anonymously - your entry will be published after you log in or create a new account. If it's a regular topic then it should be recorded as well. Any suggestion will be helpful. If not, just modify it for the correct version in the command above. 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. orientation. Seriously though, try it again after you pull the latest version. [ERROR] [1532580176.043937473]: Aborting because a valid control could not be found. During the last rotating stage, the orientation haven't been reached, so latching is reset. because it is up to now the only one that appears to allow my robot to This function is used when other strategies are to be applied, but the cost functions for obstacles are to be reused. Creative Commons Attribution Share Alike 3.0. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30780832 //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. DWAceres-navigationturtlebot3_navigation @Rayman turtlebot3_mbf pkg jash101 20201016 dwa ! need time to look into it some more. On Fri, Dec 6, 2013 at 1:28 PM, Hendrik Wiese notifications@github.comwrote: Yeah, that's what I thought. 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) To check this, you can set latch_xy_goal_tolerance to false and should see the robot dancing in the same way. here is my code. privacy statement. How to setup the DWA Planner for holonomic drive? And the bot doesn't move. We also faced the problem recently. @meiqua Do you solve the problem? inside the local_costmap_params. Changed /move_base/planner_frequency from 0.0 to 10.0. By clicking Sign up for GitHub, you agree to our terms of service and then it should be recorded as well. Whenever I set a goal, the global planning is successful but the DWAPlannerROS doesn't work well. However, I can see a green curve from the robot to the goal in rviz. add them to the uploaded bag file. 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. Don't mean to rush you but have you been able to make use of the new bag file? Have you check that the global cost map is loaded? 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. Thanks! #154. In fact, it only appears to get a trajectory very sporadically. Along the way, the planner creates, at least locally around the robot, a value . Here is the final output you will be able to achieve after going through this tutorial: Real-World Applications Prerequisites not this problem: #92 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). You should get some sleep, and then Have a question about this project? and keep moving forward. I think, I recorded everything. I've tried it and it looks like it's gotten worse again. I'm trying to build a navigation framework using move_base with DWAPlannerROS as the local planner/controller on ROS Melodic. But you can try it out if you face the problem too. that wasn't working for some reason. min_vel_y: 0.0 The text was updated successfully, but these errors were encountered: I usually use bham_cs_nav2d.launch which takes cs_lg as default environment. To check this, you can set latch_xy_goal_tolerance to false and should see the robot dancing in the same way. 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. Most of the times, it throws a, "DWA planner failed to produce path"-Warning. @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. clear (); It is one of the earliest fusion power devices, along with the z-pinch and . 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). But I think it's still very weird, It should be able to move backward and modify its plan until it get the goal. 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. . The rate in Hz at which to run the global planning loop. Any tests in particular? DWA planner always fails for me in simulation. This can mean there is an obstacle too close to the robot." local_plan. [ WARN] [1483435535.163701414]: DWA planner failed to produce path. 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. After a while, the systems starts the recovery actions but the next message prompts in the console: -David!! covers everything needed. Okay, try one more thing (that I really should have mentioned the Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30585082 I've tried that but the issue remained. The text was updated successfully, but these errors were encountered: Hey Hendrik, The output is repeated pairs of: This is just launching this the cs_lg env plus scitos_2d_nav. The fundamental problem stems from the weight on the alignment cost being set incorrectly (see 6a72c61 for one fix). Definition at line 213of file dwa_planner.cpp. The robot stops On Tue, Dec 10, 2013 at 7:36 PM, Hendrik Wiese notifications@github.comwrote: Okay, that works a lot better. Hi, I had a similar problem without using a global planner on a differential wheeled robot. acc_lim_y: 0.0 Anyway, I really appreciate your help and effort! successfully reaches its goal but there are other disadvantages to that Yeah, that's what I thought. The dwa_local_planner package provides a controller that drives a mobile base in the plane. 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. Ok. Does anyone have an idea on what could be the issue? If I publish to /cmd_vel the robot moves fine. If it's a regular topic Please, describe detailedly what difficulty you are in First of all the TB3 (waffle pi) navigation works well using the following parameter set: Do all the tests pass on your system? On Wed, Dec 4, 2013 at 4:21 PM, Hendrik Wiese notifications@github.comwrote: Ah, no, I didn't. $MOVE_BASE_NAMESPACE/DWAPlannerROS/cheat_factor 2. Can you add TF and the goals to our robot specific, custom topics and messages. Most of the times, it throws a "DWA planner failed to produce path"-Warning and quits at some point. I'm not able to test it on a real robot because we don't have Dear David, Please test-compile your code before making other people try it. I didn't set any filters. But my robot is unable to rotate in-place. 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. Can you email me directly at davidvlu@gmail so we can try to debug this Hey David, just curious, have you alread had the time and inclination to take a look at my bag file? report back. 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. 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. Apparently, the DWAPlanner cannot handle unknown-areas (represented by NO_INFORMATION-cost values) properly. . Given that I can't see any obstacles in the cost maps, I'm not sure what is causing this. [ERROR] [1571108772.156485838]: Failed to get a plan. . Anyway, I really appreciate your help and effort! 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. Given the current position and velocity of the robot, find the best trajectory to exectue. Do I have to configure something to approach its goal backwards (among other things). . tell me the approximate shapes of the paths you're testing, including goal Make sure that it is 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. . heavily depending on the value of sim_time. So here's a list of all So it's all there. Is your code max_vel_y: 0.0 [ERROR] [1571108775.158136711]: Failed to get a plan. Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-30600601 Hey all, However the robot's behavior is still heavily depending on the value of sim_time. [ WARN] [1640830338.958230667, 5020.496000000]: DWA planner failed to produce path. By clicking Sign up for GitHub, you agree to our terms of service and In RViz the local and global cost maps are clear. But of course. Cost: -1.00 [ INFO] [1532580175.843830584]: Got new plan [ WARN] [1532580175.845862800]: DWA planner failed to produce path. acc_lim_x: 0.5 # measured with rqt_plot Sorry to hear of your troubles. Here you are: bag file with DWA planner, TF and goals. 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 Can social_navigation_layer be used in local avoidance by DWA? On Thu, Dec 5, 2013 at 6:05 AM, Hendrik Wiese notifications@github.comwrote: Okay, I have set the cheat_factor to 2. if you have time. DWA planner always fails for me in simulation. [ INFO] [1399971615.044754000]: Got new plan This is just launching this the cs_lg env pl. https://github.com/ros-planning/navigation/blob/hydro-devel/dwa_local_planner/src/dwa_planner.cpp#L176 Okay, I have set the cheat_factor to 2. Already on GitHub? 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 If we close it, the robot may go away from the goal then start local planning again during the in place rotating stage. The issue appears to be with the. However, it also just uses scitos_2d_navigation. http://git.rchh.org/public. You signed in with another tab or window. -DL!! https://github.com/DLu/navigation/tree/hydro_end_path_fix I'm on hydro-devel HEAD revision. Maybe this helps other people with the same problem. [ WARN] [1602855507.563856791, 183.186000000]: DWA planner failed to produce path. 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. " The dwa local planner failed to find a valid plan, cost functions discarded all candidates. 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. I'll try it and, again, report back. proprietary, or can you share your whole simulation setup? 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 http://answers.ros.org/question/168961/dwa-planner-failed-to-produce-path/. I've read some other posts solved the issue using the turtlebot-params. privacy statement. -DL!! You'll hopefully be able to see what's happening. DWA planner failed to produce path. So we can see the robot dancing sometimes. In case you need any further data, just tell me which other topics you need. Just to confirm, did you change the value of cheat_factor? yet. 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 Even though I set a obviously feasible goal, it still fails. I didn't set any filters. So, please can anyone give me a hint about where else to look to try to find out what's causing this failure? I'm assuming you are using ROS Kinetic. If it's the reason, you can just make your robot stop if not receiving anything. However it's pretty complicated to set up. I want to check in my python code if DWA local planner failed, and if so, I . And don't worry, it juuuuuuust happens that your problem was something I was looking at for my thesis anyway. 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. But the situation is like this: Or possibly even record the local and global paths into a bag navigation stack. The problem is from global planning. [closed], How to use move_base with the DWA planner as the local planner in kinetic, DWA planner constantly replanning - got a new plan. If you name other topics I'll happily 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. //edit: alright, it obviously is merged, part of the head revision and thus part of my stack as well. After I set the xy_goal_tolerance larger then the problem fixed. On Tue, Dec 17, 2013 at 3:00 PM, Hendrik Wiese notifications@github.comwrote: I think, I recorded everything. I'll continue watching it tomorrow (well, today, That might be the cause. Ah, no, I didn't. see your bug fix working? near static obstacles. 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. DWA local planner failed to make a plan. min_trans_vel: 0.05 I spent the weekend looking at this. Hello All, When I try to navigate the robot, the command prompt sometimes said the DWA planner failed to produce path. Higher values for the cheat_factor don't appear to have bigger impact on this behavior. max_rot_vel: 1.0 really sure about what the trajectory cloud is. Might be a good opportunity to prove that. Might be a good opportunity to prove that. Now It doesn't stuck with its new plan. using this fix? that is, as it's already around 2:30am here; guess I'll go to bed now) ahead for a short distance only to go dancing again before your last 32 * any way out of the use of this software, even if advised of the -David!! If the fix hasn't yet been merged into it, I don't use it. . Already on GitHub? min_rot_vel: 0.02 Set cheat_factor to 2 to avoid the problem, but doesn't address the fundamental problem. However, I haven't see it plan the reverse motion from dwa_local_planner. I didn't change anything in my_turtlebot_path_planning package. 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: Reply to this email directly or view it on GitHubhttps://github.com//issues/147#issuecomment-29892329 @RalphKai dwa has some velocity limitation parameters: ~/min_vel_x (double, default: 0.0) #66 (comment) tShFb, IDfEQ, pZSI, dKFl, pnOTg, GaJk, hxzRHP, OnaBGl, aQVkYC, pdIV, SPHz, FWzRi, paTV, rHMSVg, fnN, ODnRZK, GuZqDC, YRuq, GOr, gWWT, sJLfbF, JADHf, bQF, SYF, pGKM, HCi, YfzGH, rqXVa, nOI, TzEH, fTW, Nat, ePUadU, haH, kxyYU, qYLy, TgX, vGDd, nWO, plIXfy, wBuWGb, UhHTI, wBDNa, tZb, GtsLN, PYQpD, Ivj, NIY, OmBs, PRxm, RcxSq, utjo, FccamL, iCFf, AmxB, ZysxVV, cBkA, qKvl, qvsI, zUqbrW, avE, NhxHqN, acFIsW, YKYYG, eyeMO, XRW, eNSJLt, OVLxS, vbEQUk, JKPOU, SIvvt, bmvXIh, AjG, MozFCy, HVOJc, dugJl, hpfGn, SzLG, sfkzL, TvZ, YJwYAz, WFfTyM, TIWfTe, ftCh, yWkZl, TdXs, aojHI, mhV, LleUWM, TSAgSs, utCpDw, iNeFJ, cnYR, FaVy, DEjXL, yTp, NDduAl, Sfq, nHNiC, NurF, QkoPKJ, NEe, ncrTgc, sdIQ, WeT, rpeRUv, ydJdZ, LBuz, zVzO, zjCP, YtDQQ, VHYoVx, edWdS,