The result of TEB calculation is very abnormal?
Closed this issue · 4 comments
some warning:
[ WARN] [1675151857.924004555]: Control loop missed its desired rate of 10.0000Hz... the loop actually took 0.2111 seconds
[ WARN] [1675151857.928814744]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 0.1791 seconds
TebLocalPlannerROS:
odom_topic: /odom
map_frame: odom_combined
Trajectory
teb_autosize: True #优化期间允许改变轨迹的时域长度
dt_ref: 0.3 #局部路径规划的解析度# minimum 0.01
dt_hysteresis: 0.1 #允许改变的时域解析度的浮动范围， 一般为 dt_ref 的 10% 左右 minimum0.002
global_plan_overwrite_orientation: False #覆盖全局路径中局部路径点的朝向
max_global_plan_lookahead_dist: 3.0 #考虑优化的全局计划子集的最大长度
feasibility_check_no_poses: 3 #检测位姿可到达的时间间隔 minimum 0
Robot
max_vel_x: 0.4 #最大x前向速度
max_vel_y: 0 #最大y前向速度，非全向移动小车需要设置为0
max_vel_x_backwards: 0.4 #最大后退速度
max_vel_theta: 0.3 #最大转向角速度
acc_lim_x: 0.2 #最大x向加速度
acc_lim_y: 0 #最大y向加速度，非全向移动小车需要设置为0
acc_lim_theta: 0.3 #最大角加速度
#阿克曼小车参数，非阿克曼小车设置为0
min_turning_radius: 0.1 #for not_akm # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually)
wheelbase: 0.5 #for not_akm
cmd_angle_instead_rotvel: False #无论是不是阿克曼小车都设置为false，因为阿克曼小车启用了阿克曼速度转换包
#true则cmd_vel/angular/z内的数据是舵机角度
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon" 默认“point”类型
type: "polygon" #多边形类型for akm/mec，默认”point”。
#type: "circular" #多边形类型for omni
#line_start: [0.00, 0.0] # for type "line" senior_akm
#line_end: [0.7, 0.0] # for type "line" top_akm_bs
#radius: 0.3 # for type "circular"
#front_offset: 0.2 #for type "two_circles"
#front_rasius: 0.2 #for type "two_circles"
#rear_offset : 0.2 #for type "two_circles"
#rear_rasius : 0.2 #for type "two_circles"
#差速系列
vertices: [[-0.1350, -0.1110], [-0.1350, 0.1110], [0.1350, 0.1110], [0.1350, -0.1110]] #多边形端点坐标 for mini_4wd
vertices: [[-0.62, -0.38], [-0.62, 0.48], [0.40, 0.48], [0.40, -0.38]] #多边形端点坐标 for mini_4wd
xy_goal_tolerance: 0.4 #目标 xy 偏移容忍度 minimum 0.001 maximum 0.2
yaw_goal_tolerance: 0.2 #目标 角度 偏移容忍度 minimum 0.001 maximum 0.1
free_goal_vel: False #允许机器人以最大速度驶向目的地
complete_global_plan: True
Obstacles
min_obstacle_dist: 0.1 #和障碍物最小距离
inflation_dist: 0.05
include_costmap_obstacles: True #是否将动态障碍物预测为速度模型，
costmap_obstacles_behind_robot_dist: 1.5 #限制机器人后方规划时考虑的局部成本地图障碍物
obstacle_poses_affected: 15 #障碍物姿态受影响0~30
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5
include_dynamic_obstacles: True
dynamic_obstacle_inflation_dist: 0.6 # 0.6
Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1 # must be > 0
weight_shortest_path: 0
weight_obstacle: 100
weight_inflation: 0.2
weight_dynamic_obstacle: 10 # not in use yet
weight_dynamic_obstacle_inflation: 0.2
weight_viapoint: 1
weight_adapt_factor: 2
Homotopy Class Planner
enable_homotopy_class_planning: False
enable_multithreading: True
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.95
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: False
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
roadmap_graph_area_length_scale: 1.0
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_heading_threshold: 0.45
switching_blocking_period: 0.0
viapoints_all_candidates: True
delete_detours_backwards: True
max_ratio_detours_duration_best_duration: 3.0
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: False
Recovery
shrink_horizon_backup: True
shrink_horizon_min_duration: 10
oscillation_recovery: False
oscillation_v_eps: 0.1
oscillation_omega_eps: 0.1
oscillation_recovery_min_duration: 10
oscillation_filter_duration: 10
我遇到了一样的问题，请问你找到问题出现的原因了吗？
I think ten is failing to solve the optimization. The goal seems to touch the wall, and you set min_obstacle_dist to 0.1, so there might not be a solution to this goal.