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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?