dwa_planner解读

官方文档： http://wiki.ros.org/dwa_local_planner
如何使用dwa_planner： http://answers.ros.org/question/209404/how-to-use-dwa_local_planner-in-move_base/
ROS局部规划模块分析：http://dkkkry.blog.51cto.com/8090800/1627993

出现如下报错

[ WARN] [1465964041.914251209]: Control loop missed its desired rate of 3.0000Hz... the loop actually took 0.4875 seconds
[ERROR] [1465964059.033444014]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

TODO

http://wiki.ros.org/teb_local_planner/Tutorials

teb_local_planer

teb_local_planner_params.yaml

TebLocalPlannerROS:

 odom_topic: odom
 map_frame: /odom

 # Trajectory

 teb_autosize: True
 dt_ref: 0.3
 dt_hysteresis: 0.1
 global_plan_overwrite_orientation: True
 max_global_plan_lookahead_dist: 3.0
 feasibility_check_no_poses: 5

 # Robot

 max_vel_x: 0.2
 max_vel_x_backwards: 0.1
 max_vel_theta: 0.3
 acc_lim_x: 0.2
 acc_lim_theta: 0.2
 min_turning_radius: 0.0
 footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
   radius: 0.222 # for type "circular"

 # GoalTolerance

 xy_goal_tolerance: 0.2
 yaw_goal_tolerance: 0.1
 free_goal_vel: False

 # Obstacles

 min_obstacle_dist: 0.3
 include_costmap_obstacles: True
 costmap_obstacles_behind_robot_dist: 1.0
 obstacle_poses_affected: 15
 costmap_converter_plugin: ""
 costmap_converter_spin_thread: True
 costmap_converter_rate: 5

 # Optimization

 no_inner_iterations: 5
 no_outer_iterations: 4
 optimization_activate: True
 optimization_verbose: False
 penalty_epsilon: 0.1
 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
 weight_obstacle: 300
 weight_dynamic_obstacle: 10 # not in use yet
 alternative_time_cost: False # not