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I am in no way an expert about this but had a similar issue and was able to solve it. I'll share my experience. I had an issue that when the robot came close to a wall or corner it would stop, and then very slowly turn more towards the wall and then get hopelessly stuck trying not to hit the wall while turning towards it. Sometimes it would actually hit the wall, but not always. This was using the base navigation stack on Jade. If this sounds like the problem you're having, then read on.

To solve it I ended up increasing the inflation radius a bit more than should have been needed and then set the footprint radius to a value smaller than reality. With this, the robot would get closer to the wall than the nav stack would realize, but it also meant the nav stack would not try to avoid it unnecessarily. With those changes things clicked and started working. Maybe try setting the radius of your robot to 0.2 or the inflation radius to 0.7 and see if it improves.