ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

I found one possible cause for this issue. The footprint config in navigation_stage/move_base_config/costmap_common_params.yaml doesn't match the sample config in frontier_exploration/launch/global_map.launch.

The footprint config in costmap_common_params.yaml:

#The footprint of the robot and associated padding
footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]
footprint_padding: 0.01

The footprint config in global_map.launch:

footprint: [[0.1, 0.0], [0.0, 0.1], [-0.1, 0.0], [0.0, -0.1]]
robot_radius: 0.10

I tried changing the one in global_map.launch to match the one in costmap_common_params.yaml and started getting better results, i.e., the exploration won't fail quickly. But the exploration will often fail because the robot can't move, especially when it tries exploring a relatively large unknown area. Does anyone have any suggestion? Many thanks in advance.