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When move_base rotates instead of going straight ahead

asked 2011-08-12 16:09:01 -0500

PKG gravatar image

updated 2011-09-07 14:46:43 -0500

I am facing a peculiar problem with move_base. I am having it read scan input from a hokuyo node laser. When there are no obstacles close by (seen by rviz), I send it a goal of 10m straight ahead, this is within the costmap. In this case, I expect move base to move smoothly ahead; instead, it causes my (physical) robot to rotate continuously in place. I have not enabled rotate recovery. Instead, I find move_base publishes a constant vz velocity.

Can I know the circumstances when this occurs? I can include my yaml files if this is not specific enough.

Update: When I give the robot a goal that requires it to turn (say 90 degrees) and then move ahead, the robot turns, and keeps turning continuously forever without moving ahead. This seems to occur when I make a slight change in params.

Please see my config files here for a config that reproduces this on my robot

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This is not specific enough. Please provide some more details.
Mac gravatar image Mac  ( 2011-09-02 12:01:27 -0500 )edit

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answered 2011-10-21 01:52:10 -0500

Lorenz gravatar image

Just a guess but how does your odometry look like? It is important that linear and angular velocities are as accurate as possible, in particular, the velocities must be in the robot's base frame, not in the (global) odometry frame. Otherwise, the local planner has problems to follow a path.

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how do I check which frame my velocity is on? thanks

PT gravatar image PT  ( 2015-06-02 13:04:36 -0500 )edit

do: rostopic echo /cmd_vel

Procópio gravatar image Procópio  ( 2015-06-03 03:48:16 -0500 )edit

hmmm...I couldn't find frame_id in /cmd_vel, as it has the following structure

geometry_msgs/Vector3 linear float64 x float64 y float64 z geometry_msgs/Vector3 angular float64 x float64 y float64 z

PT gravatar image PT  ( 2015-06-03 14:02:31 -0500 )edit

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Asked: 2011-08-12 16:09:01 -0500

Seen: 1,649 times

Last updated: Oct 21 '11