Robotics StackExchange | Archived questions

Move Base - SBPL - CarLike Ackermann

Hello,

I have robot with the mechanical motion working like a car. I am using the sbpllattice package (http://www.ros.org/wiki/sbpllatticeplanner) + movebase + carlikelocalplanner (https://bitbucket.org/alexbuyval/carlikemodel). [on ros fuerte]

I am facing some troubles,

main question:

when I re-size the footprint for my robot from: footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] to: footprint: [[0.90, -0.35], [0.90, 0.35], [-0.20, 0.35], [-0.20, -0.35]]

The system takes to long to start (more than 10 minutes). What could be the problem?

I am using a gridmap with 1 cm of resolution... with move base parameters

START VOXEL STUFF

maptype: voxel maptopic: mapNav originz: 0.0 zresolution: 0.2 zvoxels: 10 unknownthreshold: 9 mark_threshold: 0

END VOXEL STUFF

transformtolerance: 0.3 obstaclerange: 2.5 maxobstacleheight: 2.0 raytracerange: 3.0 footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] robotradius: 0.46 footprintpadding: 0.01 inflationradius: 0.55 costscalingfactor: 10.0 lethalcostthreshold: 100 observationsources: /S3000Scan /S3000Scan: {datatype: LaserScan, expectedupdaterate: 1, observationpersistence: 0.0, marking: true, clearing: true, maxobstacleheight: 0.4, minobstacle_height: 0.08}

thanks

Asked by Filipe Santos on 2013-08-27 05:26:18 UTC

Comments

Which version of ROS?

Asked by David Lu on 2013-08-27 08:28:23 UTC

Ros Fuerte

Asked by Filipe Santos on 2013-08-27 10:43:26 UTC

By time to start are you referring to just the time it takes for the planner to initialize?

Also, how much time does it take the planer to start with [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.325, -0.325]] as the footprint?

Asked by Roy on 2013-08-28 04:41:42 UTC

Yes. Almost 40seconds.

Asked by Filipe Santos on 2013-08-29 01:00:59 UTC

Could you attach the output you receive from the planner for the 10 minute initialization case?

Asked by Roy on 2013-08-29 06:16:30 UTC

Hi Filipe, were you able to resolve your issue?

Asked by Roy on 2013-09-02 06:13:02 UTC

Answers