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@Ernest: I am not sure if the solution you have provided will work in every case. Here's my take on it.
Take a look at the planner_frequency parameter at http://www.ros.org/wiki/move_base. I believe your navigation instance is not re-planning as the local_planner is not giving up control despite the obstacle.
On a differential drive robot, it can sometimes get difficult to balance the path and goal bias parameters to produce good behavior in all cases (in this particular instance you have found a solution by tweaking these parameters). An easier solution is to set planner_frequency to something other than 0, which forces replanning giving the local_planner a plan with a better chance of success.
| | 2 | fixed broken link |
@Ernest: I am not sure if the solution you have provided will work in every case. Here's my take on it.
Take a look at the planner_frequency parameter at http://www.ros.org/wiki/move_base. http://www.ros.org/wiki/move_base I believe your navigation instance is not re-planning as the local_planner is not giving up control despite the obstacle.
On a differential drive robot, it can sometimes get difficult to balance the path and goal bias parameters to produce good behavior in all cases (in this particular instance you have found a solution by tweaking these parameters). An easier solution is to set planner_frequency to something other than 0, which forces replanning giving the local_planner a plan with a better chance of success.
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