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Error on navstack with P3DX robot: "Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors"

asked 2012-01-31 21:17:52 -0500

updated 2012-02-05 19:18:05 -0500

Hi

I have used the Navigation Stack before on a P3AT and am now attempting to run a new setup on Pioneer P3DX. In doing so, I have read through the following ROS Navigation Setup page:

http://www.ros.org/wiki/navigation/Tutorials/RobotSetup

Setup

My setup and requirements do differ from that described on the above page. My setup requires me to not use a pre-made map, but to simultaneously localize and map a new area. I have chosen a relatively simple office space to test this. I am using Gmapping for this purpose. I am not using AMCL as described in the above tutorial.

Related Questions

I have read through the following related questions:

  1. http://answers.ros.org/question/407/exploration-stack-on-p3dx : I have read through this and checked the similarities, the difference is that I am using Gmapping and not AMCL. I plan to attempt AMCL as a last alternative.
  2. http://ros-users.122217.n3.nabble.com/Navigation-Stack-the-robot-rotates-most-of-the-time-after-receiving-a-goal-td1471418.html#a1528873 : The laser does move along with the turning of the robot, and in conjunction with the map data. You will also find tf/view_frames data in a later section.
  3. http://answers.ros.org/question/482/setting-up-navigation-stack-on-p3dx : Read through this, and no errors present here are present for me.
  4. http://ros-users.122217.n3.nabble.com/Navigation-stack-robot-starts-rotating-upon-recieving-goal-td819551.html#a819551: This seems like a similar problem: I don't have any unknown space in the path of the robot (Check rviz screenshots later), raytrace_range>obstacle_range (also shown later), rolling_window=true.

Test Procedure

  1. Run Motor Driver: Output: http://pastebin.com/5qT1mEtp
  2. Run Laser Driver: Output: http://pastebin.com/keQ2rDrw
  3. Publish tf data from base_link to laser: Code: http://pastebin.com/9AZVkHmf
  4. Run Gmapping: Output: http://pastebin.com/iY9ZCWtu
  5. Run Navigation: Output: http://pastebin.com/HNF7p1nK (More data follows)
  6. Run Rviz : (More data follows)
  7. Run TF view_frames: Output : http://tinypic.com/r/34ooe4l/5
  8. Send simple navigation goal: Code : http://pastebin.com/MqGNqZe6

Observed behavior

Robot rotated around once and then stopped. A few seconds the message seen in the "Run Navigation" output appeared.

Additional Data

  1. Run Navigation:
    1. The launch file for running the navigation stack is : http://pastebin.com/1nSM0jmf
    2. The additional configuration files are: base_local_planner_params, costmap_common_params, global_costmap_params, local_costmap_params, recover_behaviors.
  2. Some screenshots of RVIZ: (Red indicates the laser scan, Dark Orange are the local costmap obstacles, Light Orange are the local costmap inflated obstacles, Green is unexplored space). I have attached different screenshots with various angles, and with and without the unexplored spaces and the obstacles, in an effort that someone might see a detail that I overlooked. link, link, link, link, link, link.

Hope the post was clear, and that I get some feedback!


Thank you, Shanker Keshavdas (DFKI, Saarbruecken, Germany) the e


UPDATE: Following Eric Perko's advice and changing the topic that the motor drivers were publishing on from /pose to /odom did have the desired effect. The robot followed a simple navigation goal. However on the next 2 tries a few days later, the error which I reported was ... (more)

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Comments

The error was caused because p2os driver was publishing on /pose and not /odom. Now I do not encounter the error anymore, and navigation is working (for moving a short distance ahead atleast).
Shanker gravatar imageShanker ( 2012-02-01 20:12:07 -0500 )edit
Please note that the question is not resolved, you will find an update posted above.
Shanker gravatar imageShanker ( 2012-02-05 19:17:07 -0500 )edit

2 Answers

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answered 2012-02-01 06:24:13 -0500

Eric Perko gravatar image

updated 2012-02-06 13:44:31 -0500

The P3DX appears to be a differential drive robot, but you have configured base_local_planner for a holonomic robot (holonomic_robot: true). Set that to false, and see if that changes anything.

If you still have issues, can you try reproducing the problem using Stage or posting a bag file with the /cmd_vel output from move_base as well as your /odom output from the P3DX while the problem is occurring.

UPDATE: I took a look at the bagfile posted. After playing it back and plotting different things, you can definitely see the oscillation (try rxplot /odom/twist/twist/angular/z /cmd_vel/angular/z while playing the bag back and watch the /cmd_vel/angular/z output). For some reason, move_base is banging between an angular command of 0.4 and 0 rads/sec. Looking at your base_local_planner config again, I would bet that the culprit is misconfigured max and min rotational velocities. You have the max_rotational_vel set to 0.4, but you have the min_in_place_rotational_vel set to 0.6. That doesn't really make sense (max < min), so I suggest you change those such that min < max, and see how that affects this behavior.

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I misunderstood the meaning of holonomic. Thanks! I will also post the output of /cmd_vel and /odom
Shanker gravatar imageShanker ( 2012-02-01 18:56:21 -0500 )edit
Upon looking at the /odom output from P3DX, I noticed that the p2os driver was publishing on /pose and not /odom! Thanks a lot for your help Eric!
Shanker gravatar imageShanker ( 2012-02-01 20:08:33 -0500 )edit
This question was not fully resolved. I have posted an update that explains more.
Shanker gravatar imageShanker ( 2012-02-05 19:16:40 -0500 )edit
See updated to answer for a possible solution...
Eric Perko gravatar imageEric Perko ( 2012-02-06 13:45:19 -0500 )edit
Thanks Eric! That indeed was the problem, now that the minimum rotational velocity is lesser, the robot does execute goals on several tries.
Shanker gravatar imageShanker ( 2012-02-08 22:29:48 -0500 )edit
0

answered 2012-02-27 22:29:19 -0500

arroyo gravatar image

Hello, I am tried to create a navigation stack for p3dx and kinect with the same tutorial. If I have any problem, can I ask you??

Thanks

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I reccommend following the procedure that I have taken. Follow the tutorials, look up ROS answers for similar questions and ask a question with complete information like I have. It works :).

Shanker gravatar imageShanker ( 2012-03-22 03:45:43 -0500 )edit

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Asked: 2012-01-31 21:17:52 -0500

Seen: 1,878 times

Last updated: Feb 27 '12