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Please provide your costmap (i.e. move_base) configuration. Also, I highly suggest you use the layered costmap configuration which was introduced in ROS Hydro.

Take a look at the way the configs are handled in the Husky as an example, although it is a little complicated with the multiple param files:

https://github.com/husky/husky/blob/indigo-devel/husky_navigation/launch/move_base.launch

Off the top of my head, if move_base is going into recovery mode, I'm sure it's broadcasting some error messages that you could capture in this question. It's likely unable to generate a plan, which could be due to any number of things, such as the initial values in the costmap (track_unknown_space=False, since you have no sensors to clear space)? the size of the global/local costmaps, etc.