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

Hi All,

The problem was that I was using TrajectoryPlannerROS instead of DWALocalPlannerROS. I changed the heading TrajectoryPlannerROS to DWALocalPlannerROS in base_local_planner_params.yaml and added

base_local_planner: dwa_local_planner/DWAPlannerROS

to my move_base_params.yaml.

This completely changed the behaviour of the robot. Now it's avoiding obstacles very smoothly and not having the strange problems as before. Although I think my footprint and inflation radius still needs some optimising, it's working much better!