[DWB] PathAlign and GoalAlign critics lead to poor obstacle avoidance #938
The PathAlign and GoalAlign critics appear to bias the dwb_controller path following results to steer the robot dangerously close to obstacles, particularly seen when rounding corners. Removing them (set scale to 0) appears to lead to better performance. There is likely some bug either with the critics themselves or as a consequence of something else that is happening (perhaps the pruning of the goal position?). We should investigate these critics and test that they are being enacted properly.
Steps to reproduce issue
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I encountered a similar issue where the robot would get stuck in sharp turns especially u-turns.
So to avoid these minima, cost should be set based on euclidean distance from point on the global path which is at a distance
Below is the visualization of the modified
When the turn comes:
Shouldn't you just lower the weight on goal distance so it doesn't overpower the others for going around obstacles? It sounds like you have it cranked in one direction really hard.
These two statements are both very unclear to me what you mean. Can you clarify?
So if you lower the weight for goal distance the robot gets stuck at its current position as there is no pulling factor driving it towards the goal.
Essentially the robot gets stuck in the below case as the goal distance is not pulling it in the forward direction instead it is pulling it right.
One solution to this problem is to enable
The working of
Isn't that path distance critic?
You should 100% be pruning plans unless you have a compelling reason not to. Frankly, I don't know what the specialty reason not to prune even is. If you know, do inform me.
Again, I am not clear what this has to do with the ticket above. Is this related to the PathAlign and GoalAlign critics leading to poor obstacle avoidance performance? I'm not drawing a connection from this discussion.
I'm re-reading your comments and I'm not seeing a question, action item, or otherwise clarification. It looks like you're tuning the gains of these parameters. I'm not sure the behavior you're describing is at all a bug but a tuning problem. Can you please be very clear about what your problem is, what your solving for, and what your solution is.
@DLu can you help at all with this? My familiarity with the specific interactions within DWB is low.
I am able to reproduce this somewhat deterministically with the following steps:
Running 9 out of 10 times, you should see the TB3 get "jammed" against a pillar, while moving towards the goal, and cause an "No valid trajectories found" error.
This "jamming" occurs with either GoalAlign or PathAlign enabled (ie scale != 0.0). Seems to be worse with GoalAlign enabled. With just PathAlign enabled, it "jams" maybe 1 out of 10 runs but otherwise precariously hugs the pillar as it moves successfully towards the goal.
When scoring a trajectory, both GoalAlign and PathAlign forward transform the current pose by a fixed forward_point_distance which defaults to 0.325. Otherwise, the scoring is equivalent to GoalDist and PathDist.
During the initial GoalAlign->prepare(...) there's a transformation for the final goal pose in the truncated global_plan (clipped to be inside the dynamic window?) that looks a little suspect (and I don't really understand the comments in the code). Basically we compute the angle between the current pose and the final goal pose. Then we take the last pose in "global_plan" (which is not really the final goal pose since "global_plan" looks truncated from the "real" global plan - clipped to be within the dynamic window?) - and forward projects that last pose towards that angle by the same forward_point_distance 0.325 meters. This projection can cause the last pose in the "truncated" global plan to be seemingly projected out into an arbitrary location, definitely not guaranteed to be aligned to the goal depending on the current pose. Otherwise, the costmap preparation uses the same code as GoalDist.
Things I tried:
Things I have not tried:
Questions I have (given I'm a DWB noob and still trying to understand the nav code in general):
Suggestions? Other thoughts?
Thank you for taking this on and such good setup for reproduction. Can you post a gif of the robot in this "jam" position so there's some visual understanding of what you mean?
@shrijitsingh99 also was looking into DWB behavior, I think he should have some helpful comments on this. @shrijitsingh99 can you comment on the
Why is that a hacky fix? Given that this is for just the align critic and not the distance critic / a carrot, that seems reasonable to me. I would be vaguely interested if you used another robot (ex rover since its already in ROS2, usually I'd say Jackal) that's larger if you see the same behavior. Maybe its b/c the TB3 is small?
Heuristically, these are hyper parameters so they're not rooted in math, they're turned by hand to get performance an engineer deems good. Those are probably the params Locus uses if that is the default they set.
I think you bring up a real potential issue, and the answer is that I'm not sure. Can you post a ticket on the robot_navigation repo and maybe David will answer with your explanation. I would agree at first glance that that should be the real end of path not the end of the window, but I could see that also being the case as part of the "dynamic window" method.
I think that's the role of the footprint critic, as its forward projecting if in collision it should score poorly.
Not 100% sure. Its all a scheduling problem so you could schedule yourself right into a wall if you choose hyper parameters that encourage behavior like that, but I wouldn't think the
Thanks @SteveMacenski for the thorough feedback.
That was my initial thought which is why I adjusted the forward_point_distance down. I figured whatever Locus is using is much larger, at least 2x larger than TB, if not larger.
I'll put the following on my things-to-do list:
Anything else / other comments (specifically around boldfaced bubble thought in 2-i)? Otherwise stay tuned...
As Steve said, these are rejected by the obstacle critics. Either BaseObstacle or ObstacleFootprint
In a perfect world, it should be impossible. However, I believe the *Align critcs encourage the robot to take a marginal path, and then either sensor noise or localization noise causes it to think it is on a obstacle. At that point it fails.
There is a topic that DWB publishes -
From what I had understood, it determines the angle of the slope made by the line joining the current position and position. Then it projects the last pose of the pruned global plan using this calculated angle and forward point distance.
It's not trying to perfectly align with the goal, it gives a sort of general heading. IMO you should never try to align to the perfect with the goal position unless you are near the goal.
Because of the arbitrary location and its tendency to favor trajectories directed in the heading of the goal even if in that heading there is an obstacle.
By setting it to a small value you essentially reduce the GoalAlign critic to GoalDist critic so might be why it solves the issue. But I do agree that for turtle bot this value should be the radius of the robot.
One thing you should also do is increase the BaseObstacle scale as GoalAlign is quite similar to GoalDist so by setting both of their scales to '24.0' you have essentially double the scale for GoalAlign so you should also increase the BaseObstale scale., though that might lead to the robot getting stuck (due to sort of minima) but it will not crash.
This is not at all trying to align with the goal or even align in the heading of the goal. You are trying to align with the last pose of the truncate global plan, which is not what this plugin intended.
This is a good idea. Though mostly it is due to the robot crashing or oscillation from what I have noticed.
I think I know the reason behind which is that on turns with obstacles these goal critics and alignment critics essentially cause the robot to not follow the path and try to take a shortcut which
The question though remains can this problem be overcome by tuning or is it an issue with the critics. Since @SteveMacenski has mentioned that Locus uses this on their robots and their robots do not face this issue so this is most likely to be a tuning issue.
It sounds like pushing the .3125 to something smaller is generally agreed to be "good", lets do that. Also another place where explicit documentation is good . . .
@jackpien does that fix most of the problems for the alignment critics or still more to explore?
Thanks all for the feedback.
Attached is an image of the "jam" I see when running the repro steps I mentioned above.
I made a PR that enables the Goal/PathAlign critics and reduces the forward_point_distance for those critics.
In summary to everyone's comment, it sounds like mis-tuned parameters can lead to "jams" due to system noise. But there may be other issues to look at (which I described in the PR comments).
@shrijitsingh99 it sounds like you think the code is correct. So I will hold off on creating an issue in robot_navigation then.
The forward_point_distance used in the GoalAlign and PathAlign critics projects the current pose forward a default 0.325 meters before scoring the trajectory. This can cause velocities that create sharp turns into obstacles to be chosen (reproducible with the Turtlebot3 simulation). For TB3, which is small in size, 0.325 meters is too far. Instead, enable GoalAlign and PathAlign critics in the DWB controller and shorten the critics' forward_point_distance (how far the current pose is project given the current orientation before scoring the trajectory) from the default 0.325 meters to 0.1 meters which improves stability when running with TB3. Signed-off-by: Jack Pien <firstname.lastname@example.org>
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This can cause velocities that create sharp turns into obstacles to be chosen (reproducible with the Turtlebot3 simulation). For TB3, which is small in size, 0.325 meters is too far. Instead, enable GoalAlign and PathAlign critics in the DWB controller and shorten the critics' forward_point_distance (how far the current pose is project given the current orientation before scoring the trajectory) from the default 0.325 meters to 0.1 meters which improves stability when running with TB3. Signed-off-by: Jack Pien <email@example.com> * make basic failing test for tf2 wrapper (start of robot utils tests) (ros-planning#1743) * make basic failing test for tf2 wrapper * add file :-) * Run rosdep update in Dockerfile and CI (ros-planning#1751) So we don't have to wait for the nightly parent image to update rosdep * Don't pass rosdistro when using empty index (ros-planning#1752) Context: osrf/docker_images#399 * Explicitly set junit_family parameter for nav2_gazebo_spawner tests (ros-planning#1753) * Parameterize frame IDs (ros-planning#1742) * Use parameterized frames (ros-planning#1726) Signed-off-by: ymd-stella <firstname.lastname@example.org> * Expore frame to ports in GoalReached and add params to bringu yaml files * Fix recovery interface * Update launch file and add recovery parameters to bringup yaml * Remove lifecycle node params * Update bringup param files Signed-off-by: Sarthak Mittal <email@example.com> * Fix cpplint error * Fix nav2_recoveries cpplint errors Co-authored-by: ymd-stella <firstname.lastname@example.org> * Add the goal to NavFN tolerance region traversing algorithm (ros-planning#1734) * Consider the goal itself when looking to potential within tolerance region * Fixed comments * Re-enable nightly debug builds for codecov (ros-planning#1760) Looks like codecov analytics from merged PRs alone do not update codecov status for the master branch. Re-enabling nightly debug builds to keep codecov status on master up-to-date * Wait for initial pose and increase timeouts (ros-planning#1759) Initial pose is needed for the test to run so it makes sense to wait for it till it times out. * removed unused condition (ros-planning#1769) * Added use of declare_parameter_if_not_declared. (ros-planning#1765) * Added use of declare_parameter_if_not_declared. * Fixed column width. * Whitespace removal * Style cleanup. * a bugfix of clear costmap service action (ros-planning#1764) The following is an example of the error. [ERROR] [1590171638.335693813] [bt_navigator]: Action server failed while executing action callback: "failed to send request: ros_request argument is null, at /opt/ros/src/ros2/rcl/rcl/src/rcl/client.c:278"a bugfix of clear costmap service action Signed-off-by: Daisuke Sato <email@example.com> * Add condition nodes for time and distance replanning (ros-planning#1705) * Add condition nodes and behavior tree to enable replan on new goal Signed-off-by: Sarthak Mittal <firstname.lastname@example.org> * Fix time expired and distance traveled conditions * Remove new_goal_received from blackboard * Fix IDLE check condition in new condition nodes * Fix lint errors * Fix lint errors * Address reviewer's comments Signed-off-by: Sarthak Mittal <email@example.com> * Add tests Signed-off-by: Sarthak Mittal <firstname.lastname@example.org> * a patch for ros-planning#1773 BT navigator nodes with use_sim_time (ros-planning#1776) Signed-off-by: Daisuke Sato <email@example.com> * Replace deprecated launch params (ros-planning#1778) * Update deprecated launch params Signed-off-by: Sarthak Mittal <firstname.lastname@example.org> * Revert internal python changes Signed-off-by: Sarthak Mittal <email@example.com> * adding backup tests (ros-planning#1774) * adding backup tests * add negative case * correct termination logic * increase speed * fixish failure test case * declared default_critic_namespaces param (ros-planning#1785) * List of parameters in the stack (ros-planning#1761) * Initial commit * Added AMCL params and some formatting fixes * Added some missing params * Added bt nodes ports * fixed typo * Added <> to base names + some reformating * added default_critic_namespaces param to dwb_local_planner * Fix some parameters not being passed to getCurrentPose (ros-planning#1790) Signed-off-by: ymd-stella <firstname.lastname@example.org> * Add SLAM Toolbox and map_saver_server into launch-files (ros-planning#1768) * Add SLAM launch file Fix possible collision of laser scan with camera on waffle * Simplifications and fixes after review * Increase save_map_timeout to 5 sec to comply with SLAM Toolbox map rate * BT navigator conversion fix (ros-planning#1793) * include bt_conversions.hpp to convert input properly Signed-off-by: Daisuke Sato <email@example.com> * delete redundant include statement Signed-off-by: Daisuke Sato <firstname.lastname@example.org> * Add complete parameter description documentation (ros-planning#1786) * adding a bunch of parameter descriptions * ading costmap param descriptions * add AMCL parameters * adding DWB params * resolving review questions * include planner and controller ID parameters * fixing jack's requests * Test for lifecycle manager (ros-planning#1794) * Add test * Add more coverage * Merge test header file with executable * Address PR reviewer's comment * Add some more coverage * Revert accidental changes to localization_launch.py file. * Update modified default_bt_xml_filename parameter (ros-planning#1797) Parameter ``bt_xml_filename`` has changed to ``default_bt_xml_filename`` Co-authored-by: Aitor Miguel Blanco <email@example.com> Co-authored-by: Shivang Patel <firstname.lastname@example.org> Co-authored-by: Davide Faconti <email@example.com> Co-authored-by: Steve Macenski <firstname.lastname@example.org> Co-authored-by: crthilakraj <email@example.com> Co-authored-by: chikmagalore.thilak <firstname.lastname@example.org> Co-authored-by: Ashwin Bose <email@example.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Shrijit Singh <firstname.lastname@example.org> Co-authored-by: p-vega <email@example.com> Co-authored-by: Ruffin <firstname.lastname@example.org> Co-authored-by: Francisco Martín Rico <email@example.com> Co-authored-by: Sarthak Mittal <firstname.lastname@example.org> Co-authored-by: Siddarth Gore <email@example.com> Co-authored-by: Sarathkrishnan Ramesh <firstname.lastname@example.org> Co-authored-by: Sean Yen <email@example.com> Co-authored-by: Marwan Taher <firstname.lastname@example.org> Co-authored-by: TingChang <email@example.com> Co-authored-by: Carl Delsey <firstname.lastname@example.org> Co-authored-by: Jack Pien <email@example.com> Co-authored-by: ymd-stella <firstname.lastname@example.org> Co-authored-by: tgreier <email@example.com> Co-authored-by: Daisuke Sato <firstname.lastname@example.org> Co-authored-by: ymd-stella <email@example.com>
just cut and paste the to replace all the DWB controller nonsense above.