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

I had the same problem. Finally I solved it by reducing the inflation radius in the local map, and setting the inflation radius of the global map a little higher than the radius of the robot.

Playing with this two parameters I realized that the robot wont never travel through a zone that contains an inflated obstacle of the local costmap. If you set this value high, the robot wont pass through a narrow space. The obstacles on the global costmap allows to control the distance between the trayectory and the obstacles, so that will prevent the collision.

Hope it helps you ;)