Ask Your Question
2

what path planning method does GMAPPING-based navigation use?

asked 2012-01-29 19:11:37 -0500

letmoon gravatar image

Hello, everyone. I have been working with the gmapping-based map to practice a room environment navigation test. However, there were something that the performance is not satisfied. The problem is that my robot trembled while executing navigation task via rviz. So, I am not sure that whether this is a problem of localization method specifying via 'Pose Estimation' button or the problem about path planning algorithm. Thanks.

This is my previous post about this phenomenon. http://answers.ros.org/question/3632/how-can-i-revise-the-velocity-that-ros-set-for?answer=5678#5678

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
3

answered 2012-01-29 19:36:11 -0500

michikarg gravatar image

Hi,

GMapping is actually only responsible for map generation, so if you already have generated a map, that should not have anything to do with your problem.

For localization i guess you use AMCL? You can check if you are correctly localized by visualizing your laser scans (if you use laser) and check if the alignment with the map is correct. The "Pose Estimation" is only an initial guess for AMCL localization, so this should not be a problem...

If it is, the problem is probably caused by the planner. You can visualize the plan of the global planner in RVIZ and check if it is correct. In your case of a "trembling" i would probably guess that your problem is caused by the local planner... you should first check if you local planner receives the laser scans, odometry information and pose. Using rxgraph, you can check if the topics are correctly connected. If everything is fine, you can use rxconsole and set the logger-levels of each node (one after another) to "Debug" to check for error messages...

Can you also provide some more information about you robot/sensors/map?

edit flag offensive delete link more

Comments

thanks Michikarg
letmoon gravatar image letmoon  ( 2012-01-31 01:03:42 -0500 )edit
4

answered 2012-01-30 11:26:20 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

If I can assume you're using the move_base node from the navigation stack, the local planner is configured out of the box to use dynamic window, but also supports trajectory rollout (http://www.ros.org/wiki/base_local_planner) The global planner uses Dijkstra's algorithm. (http://www.ros.org/wiki/navfn). HTH!

edit flag offensive delete link more

Comments

thanks jdt141
letmoon gravatar image letmoon  ( 2012-01-31 01:07:42 -0500 )edit
np. can you upvote or accept if helpful?
jdt141 gravatar image jdt141  ( 2012-01-31 01:41:39 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2012-01-29 19:11:37 -0500

Seen: 1,293 times

Last updated: Jan 30 '12