Does navfn consider the size of the robot?
Hi,
It seems that navfn does not consider the size of the robot and the goal orientation when planning a path.
I'm using ROS hydro on Ubuntu 12.04, the robot is 1.3 m wide and 1.6m long and navfn plans a path trough a tight passage whose size is 1m.
In a second example the goal is 0.5m from the wall and parallel to the wall: the robot cannot reach this position since is width is 1.3m (0.65 > 0.5m) but navfn plans anyway a trajectory.
I modified the inflation radius parameter from 0.5 m to 1 m but nothing apparently change. How can avoid this behaviour?
Thanks.
Common costmap params:
footprint: [[-0.4, -0.65], [-0.4, 0.65], [1.25, 0.65], [1.25, -0.65]]
obstacle_range: 5
raytrace_range: 20
inflation_radius: 0.75
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: /laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 5.0
static_map: true
local_costmap: global_frame: /map
robot_base_frame: /base_link
update_frequency: 10.0
publish_frequency: 5.0
static_map: false
rolling_window: true
transform_tolerance: 1
width: 7.5
height: 7.5
resolution: 0.05