Robot moves forward only
Hi everyone,
Robot goes into narrow place but it can't go back to first position. It is trying to escape with moving a bit backward (then forward) infinitely at corridor's end. How can I make it escape all the way backwards? My Local Planner : base_local_planner/TrajectoryPlannerROS
Gmapping's Hokuyo Laser is in the front of robot. And There is a small rplidar on the robot's rear for avoiding obstacles:
obstacle_layer:
observation_sources: rplidar_back_scan scan
rplidar_back_scan: {data_type: LaserScan, sensor_frame: /base_lidar_back_link, clearing: true, marking: true, topic: /rplidar_back_scan}
scan: {data_type: LaserScan, sensor_frame: /base_laser_link, clearing: true, marking: true, topic: /scan}
Here is Rviz screenshot:
Thank you.
EDIT1: Am I need to merge lasers? (And how to merge?) move_base
updating costmap with all laser's scans but Gmapping uses only front laser.
EDIT2: I've set escape_vel
to 0.0
. Now robot just stopping at the corridor's end.
Maybe you can try to modify the escape_reset_theta parameter. http://docs.ros.org/hydro/api/base_local_planner/html/classbase__local__planner_1_1TrajectoryPlanner.html
Thank you. But
escape_reset_theta
andescape_reset_dist
parameters aren't useful. Now it is0.01
. If I set this to1.0
, robot tries escape one meter for every obstacle.And with the oscillation_reset_dist parameter?
I've tried before, It doesn't make sense too. :/