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That error occurs when movebase has sensor data or map information that there is an obstacle near or within the frame of the robot. If you look at the cost map in RVIZ you should be able to see if the obstacle is from the map or from a sensor. Then you can work on a solution.

If from map then make sure you've set the initial pose properly, check inflation radius, etc.

If from a sensor, then you have more work to do. You may have sensor noise that creates spurious "obstacles" that aren't really there in which case you need to work on clearing. What does your sonar sensor say where there is no reflection? Does it report a very long distance or a very short distance? Same with lidar, what distance is reported when no signal is received. You need to make sure that laser doesn't report small value that puts obstacles on the cost map near or within the robot.