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Thank you so much for the help. I changed che configuration files and what I am obtaining now is:

http://www.youtube.com/watch?v=vaIuS2Bii_U

the robot does not follow the path planned and actually it penetrates the wall, as it was not an obstacle

My new configuration files are

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.290,0.190], [0.290,-0.190], [-0.290,-0.190], [-0.290,0.190]]
#robot_radius: ir_of_robot
#inflation_radius: 0.55

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic: scan\
, marking: false, clearing: false}

#point_cloud_sensor: {sensor_frame: openni_rgb_optical_frame, data_type: PointC\
loud2, topic: camera/rgb/points, marking: false, clearing: false}

local_costmap_params.yaml
ocal_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: true
  transform_tolerance: 0.8

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: true
  transform_tolerance: 0.8

base_local_planner_params.yaml

rajectoryPlannerROS:
  max_vel_x: 0.2
  min_vel_x: 0.05
  max_rotational_vel: 0.3
  min_in_place_rotational_vel: 0.05

  acc_lim_th: 4.0
  acc_lim_x: 3.7
  acc_lim_y: 3.5

  yaw_goal_tolerance: 0.2
  xy_goal_tolerance: 0.1

  holonomic_robot: true
  y_vels: [-0.2, -0.05, 0.05, 0.2]

  dwa: false (using trajectory rollout or dwa leads to the same results)