Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Navigation global plan along the wall,and turn a corner failed. [closed]

navigation

asked 2016-10-21 02:21:57 -0500

Yang
36 ●1 ●2 ●2

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/aozk4qvaq3...

edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by Yang
close date 2016-11-15 23:12:40.831305

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!

Yang ( 2016-10-28 01:08:52 -0500 )edit

if the answer helped, please mark it as correct.

Procópio ( 2016-11-11 07:08:36 -0500 )edit

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2016-10-21 06:24:51 -0500

Procópio

flag of United Kingdom of Great Britain and Northern Ireland

4402 ●23 ●64 ●67 https://www.linkedin.c...

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.

edit flag offensive delete link

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

Yang ( 2016-10-23 07:17:45 -0500 )edit

Hi @Yang, Which cofig. file you used to change the inflation_layer? Did you ever tried to turn off Dikjstra to change global planners?

jesus ( 2019-03-08 13:53:49 -0500 )edit

add a comment

Question Tools

Stats

Asked: 2016-10-21 02:01:52 -0500

Seen: 647 times

Last updated: Oct 28 '16

Navigation global plan along the wall,and turn a corner failed. [closed] edit

Closed for the following reason duplicate question by Yang close date 2016-11-15 23:12:40.831305

Comments

1 Answer

Comments

Question Tools

Stats

Related questions

Navigation global plan along the wall,and turn a corner failed. [closed]

Closed for the following reason duplicate question by Yang
close date 2016-11-15 23:12:40.831305