why i am keep getting that error
can someone help me to know if there an error in my parameter files
[ WARN] [1679180568.133678988, 144.389000000]: DWAplanner failed to produce path.
[ WARN] [1679180568.419302171, 144.588000000]: Rotate recovery behavior started.
[ERROR] [1679180568.419462480, 144.589000000]: Rotate recovery can't rotate in place because there is
these are my files
costmap_common_params
obstacle_range: 3.0
raytrace_range: 3.5
footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
publish_frequency: 1.0
inflation_layer:
inflation_radius: 0.5
cost_scaling_factor: 3.0
obstacle_layer:
observation_sources: scan
scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
dwa_local_planner_params
# Robot configuration parameters
acc_lim_x: 2.5
acc_lim_y: 0
acc_lim_th: 3.2
max_vel_x: 0.5
min_vel_x: 0.0
max_vel_y: 0
min_vel_y: 0
max_vel_trans: 0.5
min_vel_trans: 0.1
max_vel_theta: 1.0
min_vel_theta: 0.2
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.2
latch_xy_goal_tolerance: false
global_costmap_params
global_frame: map
rolling_window: false
plugins:
- {name: static, type: "costmap_2d::StaticLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
local_costmap_params
global_frame: odom
rolling_window: true
plugins:
- {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
move_base_params
controller_frequency: 1.0
recovery_behaviour_enabled: true
TrajectoryPlannerROS:
# Robot Configuration Parameters
acc_lim_x: 2.5
acc_lim_theta: 3.2
max_vel_x: 1.0
min_vel_x: 0.0
max_vel_theta: 1.0
min_vel_theta: -1.0
min_in_place_vel_theta: 0.2
holonomic_robot: false
escape_vel: -0.1
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.2
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 2.0
sim_granularity: 0.02
angular_sim_granularity: 0.02
vx_samples: 6
vtheta_samples: 20
controller_frequency: 20.0
# Trajectory scoring parameters
meter_scoring: true # Whether the gdist_scale and pdist_scale parameters should assume that goal_distance and path_distance are expressed in units of meters or cells. Cells are assumed by default (false).
occdist_scale: 0.1 #The weighting for how much the controller should attempt to avoid obstacles. default 0.01
pdist_scale: 0.75 # The weighting for how much the controller should stay close to the path it was given . default 0.6
gdist_scale: 1.0 # The weighting for how much the controller should attempt to reach its local goal, also controls speed default 0.8
heading_lookahead: 0.325 #How far to look ahead in meters when scoring different in-place-rotation trajectories
heading_scoring: false #Whether to score based on the robot's heading to the path or its distance from the path. default false
heading_scoring_timestep: 0.8 #How far to look ahead in time in seconds along the simulated trajectory when using heading scoring (double, default: 0.8)
dwa: true #Whether to use the Dynamic Window Approach (DWA)_ or whether to use Trajectory Rollout
simple_attractor: false
publish_cost_grid_pc: true
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.25 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
escape_reset_dist: 0.1
escape_reset_theta: 0.1
navfn_global_planner_params
allow_unknown: true # Specifies whether or not to allow navfn to create plans that traverse unknown space.
default_tolerance: 0.1 # A tolerance on the goal point for the planner.