turtlebot stucks in free space while navigation [closed]
While testing turtlebot navigation with stage simulation I found interesting behavior. Robot gets stuck in empty space and starts to rotate to clear costmap. Could anybody explain why robot gets stuck in empty space?
[ WARN] [1400749002.714297597, 125.900000000]: Clearing costmap to unstuck robot.
[ WARN] [1400749013.113075404, 136.300000000]: Clearing costmap to unstuck robot.
move_base configuration and video
You can test with turtlebot_stage package.
Installation
> wstool init . https://raw.githubusercontent.com/turtlebot/turtlebot/hydro-devel/turtlebot.rosinstall > wstool merge https://raw.github.com/robotics-in-concert/rocon/hydro-devel/rocon_app_platform.rosinstall > catkin_make
Start
> roslaunch turtlebot_stage turtlebot_in_stage.launch
Seems like a local planner problem.
Yeah.. do you have any suggestion to track down the problem? I see this behavior with real robot and would like to solve it.
I retagged with eband, so maybe someone with that expertise can help you.
It uses trajectory local planner which is given by default navigation stack. It is just switchable to eband but it used trajectory local planner while I test.
Can you please edit your question to include the precise launch file you are using to get the described behavior?
The question is updated. Let me know if you need more information.
I also use my turtlebot to navigate with eband_local_planner. Yesterday, I removed a base_local_planner_params.yaml. I need to have both base_local_planner_params.yaml and eband_planner_params.yaml?
I watched your video. The movement you point out is interesting. As a number of particle is getting a few around the turtlebot, turtlebot can localize. but I think a turtlebot's rotation means turtlebot's localization. That's turtlebot lost the position of itself. Am I wrong?