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Thank you very much, this solved my problem. But now the robot is easily stuck because of the obstacles. Which parameters can I change in the costmap and navigator configuration files to decrease the obstacle influence?

Thank you very much, this solved my problem. But now the robot is easily stuck because of the obstacles. Which parameters can I change in the costmap and navigator configuration files to decrease the obstacle influence?

edit: I can only read your edit text and I see no comments. I used RVIZ to visualize the map as you said and I noticed two things: the turtlebot does a lot of circle because sometimes it isn't able to detect part of the map without obstacle: http://hpics.li/e0e94ff and it's not able to go between two obstacles (1m). The blue navigation line is good but not the green corrected line.

Thank you very much, this solved my problem. But now the robot is easily stuck because of the obstacles. Which parameters can I change in the costmap and navigator configuration files to decrease the obstacle influence?

edit: I can only read your edit text and I see no comments. I used RVIZ to visualize the map as you said and I noticed two things: the turtlebot does a lot of circle because sometimes it isn't able to detect part of the map without obstacle: http://hpics.li/e0e94ff ( it's because of the bad laser quality) and it's not able to go between two obstacles (1m). The blue navigation line is good but not the green corrected line.line. I think it's because the costmap is too large for obstacles.

Thank you very much, this solved my problem. But now the robot is easily stuck because of the obstacles. Which parameters can I change in the costmap and navigator configuration files to decrease the obstacle influence?

edit: I can only read your edit text and I see no comments. I used RVIZ to visualize the map as you said and I noticed two things: the turtlebot does a lot of circle because sometimes it isn't able to detect part of the map without obstacle: http://hpics.li/e0e94ff ( it's because of the bad laser quality) and it's not able to go between two obstacles (1m). The blue navigation line is good but not the green corrected line. I think it's because the costmap is too large for obstacles.

edit_2: Finally I changed of robot and I use an Hokuyo laser instead of the Kinect. All the nav2d packages are now working well and I'm able to use the default mapper node to build a map. Thank you very much for your answers.