problem with move base [closed]
Hi all, I'm having problems with movebase on pioneer robot. working with Ubuntu 12.04 LTS and Fuerte. The problem is that the robot is not avoiding the obstacles. i can see in rviz that there are obstacles in the map. so i suppose the laser scanner and gmapping is working properly. but when giving targets behind the obstacles (using 2D Nav Goal in rviz), the robot dose not avoid some obstacles and keep crashing with them!!!
I don't know exactly how movebase is working. but i can see(actually hear) that the sonars in the pioneer is not activated!
Any suggestions?
costmap_common.yaml :
map_type: costmap transform_tolerance: 0.5 obstacle_range: 2.5 max_obstacle_height: 2.0 raytrace_range: 3.0 inscribed_radius: 0.35 circumscribed_radius: 0.4 inflation_radius: 0.6 cost_scaling_factor: 15.0 lethal_cost_threshold: 100
observation_sources: laser_scan_sensor point_cloud_sensor laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true} point_cloud_sensor: {sensor_frame: sonar_frame, data_type: PointCloud, topic: /RosAria/sonar, marking: true, clearing: true}
global_costmap.yaml:
global_costmap: global_frame: map
robot_base_frame: base_link
update_frequency: 1.0
publish_frequency: 0.5
raytrace_range: 30.0 obstacle_range: 5.0 static_map: false rolling_window: false width: 100.0
height: 100.0 resolution: 0.05
origin_x: -30.0 origin_y: -30.0
How did you configure the costmaps for move_base? Do they contain the obstacle sources that you see in rviz?
hello dornhege and thanks for your fast comment. I have costmap_common.yaml for global and local with global_costmap.yaml for global only. but i don't think there is a parameter about obstacle sources! i added the files below.
It seems there are some sensor sources configured. Can you check in rviz if those exact sensor sources also appear in the costmap? One issue might be that one sensor clears data from another.