About the robot walking bumps and the wrong turning angle

[ju-mingyue]

Hello, when I use the following configuration, my robot is running very bumpy

When walking along a straight line, there will be forward and backward motions, the trajectory is as follows:

I am not sure how to adjust the parameters.I look forward to your help.

[Timple]

Can you try with the Kd parameters to zero and a lower Kp parameter? That might stabilize stuff.

[ju-mingyue]

Can you try with the Kd parameters to zero and a lower Kp parameter? That might stabilize stuff.
@Timple
Thank you for your prompt reply.
Currently I have debugging kp, I set kp_long to 5, adjusted target_x_acc: 5, target_yaw_acc: 5, although the robot can reach the position quickly, it will move back and forth at the target position and will not stop accurately at the target point.
When I join PID tracking, do I still need to add local road planning?

[Timple]

How does the robot behave if you operate it with a joystick?

[ju-mingyue]

@Timple Hello, when I use the handle to control, the robot runs relatively stable and can stop well,Currently my parameters are as follows:


The right side is the running route. Why does it rotate first when starting, instead of directly running a straight line? After reaching the target point, it will run back and forth without stopping.

[ju-mingyue]

@Timple
For this, I found another package to use. The error that appears is as follows. Do you have a related solution?
https://github.com/nobleo/path_tracking_pid/issues/6#issue-1058378309

[ju-mingyue]

@Timple Hello, I have solved the above problem, but a new problem has appeared. The robot will start to decelerate when it is about to reach the target point following the global path, and will eventually pass the target point at this speed before stopping (it is no longer there at this time The target point is directly in front of the target point), what is the reason? Is it related to the set pid parameter? Below is my node graph:

The actual running route is shown in the figure below. The blue horizontal line is the position of the target point. The robot will decelerate at the target point and move forward without stopping.

The following is the pid parameter configuration：

`
controllers:

• name: PathTrackingPID
  type: path_tracking_pid/TrackingPidLocalPlanner
  PathTrackingPID:
  holonomic_robot: false
  track_base_link: true
  estimate_pose_angle: false
  base_link_frame: base_link
  Kd_ang: 0.3
  Kd_lat: 0.3
  Ki_ang: 0.0
  Ki_lat: 0.0
  Kp_ang: 1.0
  Kp_lat: 1.0
  l: 1.0
  feedback_ang: false
  feedback_lat: true
  feedforward_ang: false
  feedforward_lat: true
  controller_debug_enabled: false
  target_end_x_vel: 0.0
  target_x_acc: 2.0
  target_x_decc: 2.0
  target_x_vel: 2.0
  abs_minimum_x_vel: 0.025
  max_error_x_vel: 1.0
  max_yaw_vel: 2.0
  max_yaw_acc: 2.0
  min_turning_radius: 0.0

use_mpc: false
mpc_max_error_lat: 0.5
mpc_max_fwd_iter: 200
mpc_max_vel_optimization_iterations: 5
mpc_min_x_vel: 0.5
mpc_simulation_sample_time: 0.05

anti_collision: true
obstacle_speed_reduction: true
collision_look_ahead_resolution: 1.0 # [m]
global_frame_id: map
map_frame: map

controller_frequency: 10.0
controller_max_retries: 0`

[berkettunckal]

did you solve the problem? I'm also having the problem of turning with the wrong angle.