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