Navigation global plan along the wall,and turn a corner failed.
I build my own robot,everything is working.urdf,tf,kinect,hokuyo laser,gmapping,amcl,etc. But navitation is still failed. The main cause is global plan along the wall,turn a corner failed. Straight ahead is normal,the global plan path is the middle of road.When there is a turn,it's failed. Does anyone know about this problem？ https://www.dropbox.com/sh/aozk4qvaq3igs0t/AABlriVw2PbFnb1zT-SoDeA6a?dl=0
Asked by Yang on 2016-10-21 02:01:52 UTC
Answers
You should add an inflation_layer to your costmap configuration. this way the global planning will create paths that are further away from obstacles and walls.
Asked by Procópio on 2016-10-21 06:24:51 UTC
Comments
Thanks your reply.I have tried it.The inflation_layer,i tried 0.2/0.3/0.5。The result is that the robot met the inflation area,then gave up action.The global path is very close to the inflation edge. According global planner Dijkstra's Algorithm ,the shortest path is right,but i don't know why failed
Asked by Yang on 2016-10-23 07:17:45 UTC
Hi @Yang, Which cofig. file you used to change the inflation_layer? Did you ever tried to turn off Dikjstra to change global planners?
Asked by jesus on 2019-03-08 14:53:49 UTC
Comments
HI,everybody,i have solved the problem,The inflation_layer is not too small,increase the inflation_layer value up to 0.55,it is working.Good luck!
Asked by Yang on 2016-10-28 01:08:52 UTC
if the answer helped, please mark it as correct.
Asked by Procópio on 2016-11-11 08:08:36 UTC