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Hey, just did a quick look at your params and just had some minor advice on what you could adjust, to kind of improve.
First thing is the inflation layer:
inflation_radius: 0.25
This should be comparable to the full size the robot footprint, in your case (0.96 length and 0.8 width).
From how the costmap keep out and decay regions work having a small inflation_radius in comparison to the footprint is going to cause some problems when it tries to make that U - turn like movement in the global plan.
Further reading here: http://wiki.ros.org/costmap_2d
My recommendation is to try adjusting the parameters of the inflation layer like so:
inflation_layer:
enabled: true
cost_scaling_factor: 0.3 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 1.0
If this doesn't solve your planning issue is it possible to post a screenshot or error messages that come up on the command line during the execution?