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,
- there is other easy option to get a global planner and local navigation for this kind of robots?
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