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Autonomous navigation with turtlebot. Troubles through doors.

asked 2011-12-05 20:08:32 -0500

apalomer gravatar image

updated 2011-12-06 06:28:46 -0500

Hi,

I'm using the navigation stack on turtlebot, but when I try to navigate autonomously in the map my robot can not go through doors. I suspect that's because of the inflated objects. If you look at what's being shown in rviz the blue part of each part of the door is touching at the middle.

Does somebody know where I can change the inflated objects to a smaller range?

Thanks.

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Can you post your navigation stack configuration files?
Eric Perko gravatar image Eric Perko  ( 2011-12-05 22:45:26 -0500 )edit

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answered 2011-12-06 04:25:54 -0500

130s gravatar image

Direct answer to your question is turtlebot_apps/turtlebot_navigation/costmap_common_params.yaml (as in @Pi Robot's comment too).

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answered 2011-12-06 00:59:37 -0500

apalomer gravatar image

It is solved.

I've changed this line:

else if(distance <= cell_inscribed_radius_)

for this one:

else if(distance <= cell_inscribed_radius_/2)

so the inflated objects are half big now.

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I filed this ticket (https://kforge.ros.org/turtlebot/trac/ticket/97) yesterday which I think is related. (The TurtleBot's radius is set to 2x what it should be.)
Pi Robot gravatar image Pi Robot  ( 2011-12-06 01:12:58 -0500 )edit

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Asked: 2011-12-05 20:08:32 -0500

Seen: 694 times

Last updated: Dec 06 '11