TEB local planner

1. Setup

• Install teb_local_planner pkg from official ROS repos.
  

  sudo apt-get install ros-melodic-teb-local-planner

---

2. Configure & Run

2-1. Set and Configure TEB local planner

Requirement: ROS Navigation Stack

local planner가 기본적으로 TrajectoryPlannerROS로 설정되어있는데, 이것을 TEB local planner로의 변경이 필요하다.
아래 move base node의 param 수정을 통해 TEB local planner로 변경한다.

• local planner 수정(to TEB local planner)
  move_base.launch 내 move_base node의 param 추가
  

  <launch>
    <master auto="start"/>
  
    <!-- Run the map server -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(find my_map_package)/my_map.pgm my_map_resolution"/>
  
    <!--- Run AMCL -->
    <!--- We load ACML here with diff=true to support our differential drive robot -->
    <include file="$(find amcl)/examples/amcl_diff.launch" />
  
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
      <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
      <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
      <rosparam file="$(find my_robot_name_2dnav)/local_costmap_params.yaml" command="load" />
      <rosparam file="$(find my_robot_name_2dnav)/global_costmap_params.yaml" command="load" />
      <rosparam file="$(find my_robot_name_2dnav)/base_local_planner_params.yaml" command="load" />
  
      <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
      <param name="controller_frequency" value="10.0" />
    </node>
  </launch>

  
  
  
• Update parameter of TEB
  base local planner params.yaml 파일 수정을 통해 TEB local planner의 parameter들을 수정한다.
  (rqt reconfigure 이용해서 손쉽게 가능)
  

  rosrun rqt_reconfigure rqt_reconfigure​

  
  

  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: 0.4
   max_vel_x_backwards: 0.2
   max_vel_theta: 0.3
   acc_lim_x: 0.5
   acc_lim_theta: 0.5
   min_turning_radius: 0.0
   footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
     type: "point"
     radius: 0.2 # for type "circular"
     line_start: [-0.3, 0.0] # for type "line"
     line_end: [0.3, 0.0] # for type "line"
     front_offset: 0.2 # for type "two_circles"
     front_radius: 0.2 # for type "two_circles"
     rear_offset: 0.2 # for type "two_circles"
     rear_radius: 0.2 # for type "two_circles"
     vertices: [ [0.25, -0.05], [0.18, -0.05], [0.18, -0.18], [-0.19, -0.18], [-0.25, 0], [-0.19, 0.18], [0.18, 0.18], [0.18, 0.05], [0.25, 0.05] ] # for type "polygon"
  
   # GoalTolerance    
   xy_goal_tolerance: 0.2
   yaw_goal_tolerance: 0.1
   free_goal_vel: False
      
   # Obstacles    
   min_obstacle_dist: 0.4
   include_costmap_obstacles: True
   costmap_obstacles_behind_robot_dist: 1.0
   obstacle_poses_affected: 30
   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: 50
   weight_dynamic_obstacle: 10 # not in use yet
   alternative_time_cost: False # not in use yet
  
   # Homotopy Class Planner
   enable_homotopy_class_planning: True
   enable_multithreading: True
   simple_exploration: False
   max_number_classes: 4
   roadmap_graph_no_samples: 15
   roadmap_graph_area_width: 5
   h_signature_prescaler: 0.5
   h_signature_threshold: 0.1
   obstacle_keypoint_offset: 0.1
   obstacle_heading_threshold: 0.45
   visualize_hc_graph: False​