Navigation Problem
Hello ROSers,
I have a custom robot on which I successfully run ROS Indigo. I built a map using gmapping here: http://i67.tinypic.com/20r31nb.png
Afterthat I used AMCL for localization and saw that it successfully localizes itself on this map. everything perfect up to here! However, when I tried to use ROS Navigation package I faced some critical errors ! The map below shows the navigation path:
Upto WayPoint1 everything is good. But when I gave Waypoint2 (WP2) command on Rviz, the robot always makes some absurd movements as you can see above picture!
I use encoders in my custom robot's motors, so I have good velocity control mechanism for the robot. I think the problem is in navigation but can't decide in which part of navigation parameters I should concentrate. For many days I have been trying to change some navigation parameters to solve this problem costmaplocal.yaml, costmapglobal.yaml, costmapcommon.yaml and movebase.yaml. No change! :(
Any idea or insight for the problem solution please? Regards & Thanks
Asked by nightblue on 2015-11-02 03:39:05 UTC
Answers
According to your comments, I would try to increase the inflation_radius in your costmap_common.yaml
You can have more details on the costmap_2d page, specially in the Inflation Section
Asked by Procópio on 2015-11-02 07:55:37 UTC
Comments
can you create a video of it?
Asked by Procópio on 2015-11-02 04:15:30 UTC
Dont have the video but I cansay that when I gave WP2 as target,it draws a nav. path very near to obstacle in middle and it always tries to pass too near to obstacle and it cant achieve in first try: turns back, tries again,.. turn bck again, etc...It at least makes 5 or more trials to pass obstcle
Asked by nightblue on 2015-11-02 06:01:24 UTC
Also sometimes it stucks after some 10 or more trials !
Asked by nightblue on 2015-11-02 06:03:10 UTC