velocity command disappears for a while

[zengxiaolei]

Hi, Christoph, I use TEB-local-planner in ROS melodic (0.8.4), Ubuntu 18.04. As shown in Fig. 1, velocity command from local planner disappears for a while at time 2260.5s and at 2264.3s, and velocity frequency is relative low after these time-points for some time, which results in strange local plan: the local path can form one or more circles.

Fig. 1 move_base_vel : original velocity topic of move_base cmd_vel : smoothed move_base_vel odom: odom velocity feedback

This phenomenon can happens, especially at start point or end point. I don't know if this is a problem caused by inappropriate parameters or the algorithm itself. I look forward to your help.

[adamkrawczyk]

I think I have a similar problem when robot moves sometimes planner stops sending cmd_vel data and robot uses last published velocity. When this happens I can see warnings that control loop missed desired frequency. I was wondering if this can be caused by not enough computation power but I'm using 16cpu and usage is about 50%.

ROS Kinetic

[srsidd]

I'm seeing a similar problem, except I never see the planner recover.. Were you able to figure this out?

[adamkrawczyk]

Unfortunately I haven't and changed to other local planner.

[zengxiaolei]

Hi, I've solved the problem. In my case, the reason is that the global plan path is not smooth. After fix global path parameter, the problem is solved.