Faulty navigational behaviour
I have a GoPiGo (Raspberry Pi b+) that uses RPLIdar A2 for scanning. I've been trying for a long time to get mapping working properly with movement. I've searched a lot on how to fix my problems but none of the solutions seemed to work.
I'm using Ubuntu_Mate 16.04 and all the lastest stacks and updates on everything else, the repos I use are listed below.
For navigation im using https://github.com/iot-magi/gopigo3_n...
in combination with that repository im also using https://github.com/ros-gopigo/gopigo3...
finally, im using this repo for the RPLIdar https://github.com/Slamtec/rplidar_ros
Im getting the map and costmap up properly, and it seems to be working fine. But as I try to publish a goal to the navgoal the robot gets very confused and starts rapidly turning (i will provide a video if it's needed).
I should also point out that the map in RViz flickers a lot, which i cannot find a solution for.
I noticed something that seems off with my TF_tree, GoPIGO_body and LIdar has 10000 hertz average rate. Could this be causing a problem?
I have costumised some values so it works with my hardware setup.
I would greatly appreciate any help or points in the right direction. If there is anything more you want to know about my config or anything else ill answer very fast.
I believe those Lidars run at about 30 Hz, so you may have a hardware problem or it may be misconfigured.
Also, are you running RViz on the GoPiGo, or is it running on another machine connected over the network?
Finally, can you see the Lidar points in RViz before you publish a goal?
I am running RViz on another machine over the network yes, however the goal is being published via SSH, I only use RViz to get some visual on what is happening. I can see the lidar points indeed, and the map is being generated ontop of that. The lidar points are pretty accurate aswell.
Ok. Some more questions to try to narrow down the problem.
I just want to start of by thanking you for trying to help me!
The error suggest there is a problem with the local costmap. There are two costmaps in the system, one for the global planner and one for the local planner. Do both of them look correct?
I dont know if it has something to do with it, but if you see on this image: https://imgur.com/4j7ciFV. The local costmap seems to be the minature map to the left of the image. They do seem to look pretty alike.
Sorry for the delay. I've been away for a few days.Are you saying the local costmap is the grayish square? The robot is on the top right corner? That looks wrong. The robot should be centered in the local costmap. It also looks like it has no data in it. It's all the same gray color.
It looks to me like the local costmap is misconfigured. Can you post your configuration parameters? I know the params can be spread around a lot of files, so if needed, I believe you can run
rosparam dump myparams.yaml
to get them all.Hey! Thanks for the suggestion, I've uploaded my params to this pastebin: https://pastebin.com/ni46KS91