Why does move_base abort this path?
I'm using frontier_exploration to do autonomous mapping and this is the first goal that it sends the robot when it is initialized.
The robot can't move and I get these errors:
[ERROR] [1459373069.392635517]: Footprint spec is empty, maybe missing call to setFootprint?
[ WARN] [1459373069.393029517]: Invalid Trajectory 0.000000, 0.000000, 0.400000, cost: -9.000000
[ WARN] [1459373069.393286183]: Rotation cmd in collision
[ INFO] [1459373069.394777850]: Error when rotating.
[ INFO] [1459373069.490389850]: Got new plan
Eventually, all of the recovery behaviors fail and I get the error:
[ERROR] [1459373090.449866595]: Aborting because a valid control could not be found. Even after executing all recovery behaviors
[ERROR] [1459373090.450383095]: Failed to move
This can't be a problem with the costmaps because there aren't any obstacles nearby.
Any thoughts?
Asked by pgigioli on 2016-03-30 16:31:48 UTC
Answers
What about your footprint? You get an error message saying that the footprint is empty. Try visualizing the footprint in RVIZ, maybe that one is much bigger than the actual robot.
Asked by achimk on 2016-06-14 02:54:21 UTC
Comments
Your goal is currently inside your robot's footprint. You can check the RViz topic with footprint in the name to see. Move the goal outside the footprint.
Asked by Void on 2019-02-08 15:32:29 UTC
Comments
I think this is related to this http://answers.ros.org/question/204740/dwa_local_planner-in-place-rotation-first-goal-does-not-work/
Asked by DavidN on 2016-03-30 21:22:59 UTC