DWAPlanner fails to get path with multiple errors
I'm using move base flex inside a SMACH on ROS Melodic and trying to call the exepath-Action. The corresponding yaml-Config-file in which the DWAPlanner is configured looks as follows:
planners:
- name: 'GlobalPlanner'
type: 'global_planner/GlobalPlanner'
controllers:
- name: 'DWAPlannerROS'
type: 'dwa_local_planner/DWAPlannerROS'
GlobalPlanner:
#basic parameters
default_tolerance: 3.0 #default is 0.0
use_dijkstra: true #default is true
old_navfn_behavior: false #default is false
use_quadratic: true #default is true
use_grid_path: false #default is false
allow_unknown: true #default is true
lethal_cost: 253 #default is 253
neutral_cost: 50 #default is 50
cost_factor: 3 #default is 3
#debug parameters
publish_potential: True
DWAPlannerROS:
max_vel_x: 3.7
max_vel_y: 0.0
min_vel_y: 0.0
max_vel_trans: 3.7
min_vel_trans: 0.0
max_vel_theta: 2.09
min_vel_theta: 0
acc_lim_x: 2.47
acc_lim_y: 0
acc_lim_theta: 4.18
sim_time: 2.0
vx_samples: 3
vy_samples: 0
vth_samples: 20
holonomic_robot: false
controller_frequency: 5.0
Running my SMACH, the move base flex-terminal gives the following output:
[DEBUG] [1603196219.906335542]: The action server has received a new goal request
[DEBUG] [1603196219.909174988]: Accepting goal, id: /state_machine-3-1601546320.253, stamp: 1601546320.25
[DEBUG] [1603196219.909294790]: Getting status over the wire.
[ INFO] [1603196219.910956743]: Got new plan
[DEBUG] [1603196220.022354264]: Getting status over the wire.
[DEBUG] [1603196220.028657816]: Getting status over the wire.
[DEBUG] [1603196220.038405957]: Getting status over the wire.
[ WARN] [1603196220.065891287]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 0.2353 seconds
[ERROR] [1603196220.078004954]: None of the 409 first of 409 (409) points of the global plan were in the local costmap and free
[ WARN] [1603196220.206477214]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 0.1082 seconds
[DEBUG] [1603196220.222368827]: Getting status over the wire.
[DEBUG] [1603196220.228655057]: Getting status over the wire.
[DEBUG] [1603196220.238416383]: Getting status over the wire.
[ WARN] [1603196220.266667792]: DWA planner failed to produce path.
[ WARN] [1603196220.266838287]: Calculation needs too much time to stay in the moving frequency! (0.355895 > 0.050000)
[ WARN] [1603196220.266875224]: No velocity command received from controller! Controller failed
When I ran the same params on normal move base with DWAPlanner as local planner, it worked fine. Furthermore, the global path is visualized in rviz and it is inside the free area of the local map. Any ideas on what could be the issue?