Why so much spinning in place with move_base?

[Muhammad Usman Arif]

Dear Patrick,

I am trying to implement your move in square example in Gazebo with a turtlebot. Using an empty map which I have created in an image editor. The code seems to work fine but the only problem is there is a lot of spinning motion while moving towards goal. Which I think shouldn't be the case for an empty map. I have tried the fixes you recommended in your ros answers question about the same problem. Any other ideas which could help me?

Regards,
Usman

[Patrick Goebel]

Hi Usman,

Could you please include a link to that Q&A in ROS Answers so I can
review what was said there?

Thanks,
patrick

> --

[Muhammad Usman Arif]

Hi Patrick,

here is the link

http://answers.ros.org/question/38507/why-so-much-spinning-in-place-with-move_base/

Regards,

Usman

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[Patrick Goebel]

Hi Usman,

This may be fairly difficult to debug since there are so many factors involved.  Can you supply the following additional information:

• The version of ROS you are using.
• Which move_base parameters are you using?  Are you using those from rbx1_nav/config or rbx2_nav/config or some of your own?  If you are using your own or you have modified the rbx1 or rbx2 params, please attach the following files:
• base_local_planner_params.yaml
• costmap_common_params.yaml
• local_costmap_params.yaml
• global_costmap_params.yaml
• move_base_params.yaml (if you have one)
• Please attach your map image and yaml files (e.g. map.pgm, map.yaml)
• Could you also tell us the command and launch file(s) you are using to fire up Gazebo with the TurtleBot?
• Please also include the command you are using to launch move_base with your navigation parameters.
  

Thanks,
patrick

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[Muhammad Usman Arif]

Dear Patrick,

Here are the details

1. I am using Indigo and have your indigo version of the book

2. I am not using any of your rbx parameters and am using my own, so please find the move_base parameter files attached.

3 I am not using any move_base_params.yaml

4. I have two separate launch files for launching a.Turtlebot with gazebo (mylaunch_turtlebot_0.1.launch) b.move_base for turtlebot (multiple_nav.launch) attaching the launch files as well. 

5. Also attaching a few extra files that are called within the launch files. Just in case you need to view them.

Thanks and Regards,

Usman

[Patrick Goebel]

Hi Usman,

I have looked through your files and tried the basic configuration.  Your setup is quite complex and there are some inconsistencies in some of your launch and configuration files.  For example, when including other parameter files, you have a mix of absolute paths and package-based paths.  For example, in your file move_base_altered.launch.xml, your move_base node is loading some parameters from:

    <rosparam file="/home/usman/research_gaz_ros/src/turtlebot_research/navigation/param/costmap_common_params.yaml" command="load" ns="global_costmap"/>

which is an absolute path to a file I don't have and below that in the same file:

    <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load"/>

which uses the proper "find package" syntax and is pointing to a system-level parameter file from the turtlebot_navigation package.

Another place there is an absolute path is in your mylaunch_turtlebot_0.1.launch file:

   <include file="/src/launch/turtlebot.launch">

which again points to a file I don't have.

So I would begin by going through all your files and making sure that there are no absolute paths being used anywhere.  Instead, copy those files into your package and use the "find package" syntax.

Although I could not use your launch files for the reasons above, I was at least able to use your parameter files by using my own launch files to load your .yaml files.  Note that I had to also use the move_base_params.yaml file from the turtlebot_navigation package since this file turns on the DWA planner--otherwise, the parameters in your dwa_local_planner_params.yaml file are ignored.

With your parameters loaded into move_base, I was able to see the spinning you reported although it was more of an oscillation left and right when the robot reached one of the goal points.  I was able to eliminate this oscillation by changing the vx_samples parameter from 3 to 6 and by changing the vy_samples parameter from 10 to 0 (which it should be anyway for a non-holonomic robot).

Hopefully that will help you out a little.  That's about all the time I can spend on your particular setup.  If you run into more trouble, I would suggest posting to http://answers.ros.org where there are potentially thousands of people who have tried all sorts of navigation setups.

Good luck!

--patrick

[Muhammad Usman Arif]

Dear Patrick,

Thanks a lot for giving me so much time. I will try these changes and will update you on this.

Thanks again.

Regards,

Usman