navfn planning through wall

edit

I am trying navigation_stage package in Hydro, ubuntu 12.04. I am using move_base_multi_robot.lauch.

But navfn is planning through the walls. The map used in willow map which have small openinings. Navfn is not considering size of the robot.

EDIT 3: The other problem is cost map is not accumulating the observed obstacles which were not part of map. What i understand is when rbot gets stucj, recovery behaviour is initiated and costmap is cleared. All previous observations are lost in cost map. Because of this, robot keep on oscillating from one small opening to next.Following is the configuration files:

There is also an extrapolation error reported : " lookup would require extrapolation into future. Requested time is 627.3 but the latest data is at 627.2 when looking up for transform from frame [robot1/odom] to frame [map]

local cost map params

local_costmap:
  #We'll publish the voxel grid used by this costmap
  publish_voxel_map: true

  #Set the global and robot frames for the costmap
  global_frame: odom
  robot_base_frame: base_link

  #Set the update and publish frequency of the costmap
  update_frequency: 5.0
  publish_frequency: 2.0

  #We'll configure this costmap to be a rolling window... meaning it is always
  #centered at the robot
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.025
  origin_x: -1.0
  origin_y: -1.0
  map_type: costmap


global cost map params
global_costmap:
  #Set the global and robot frames for the costmap
  global_frame: /map
  robot_base_frame: base_link

  #Set the update and publish frequency of the costmap
  update_frequency: 5.0
  publish_frequency: 0.0

  #We'll use a map served by the map_server to initialize this costmap
  static_map: true
  rolling_window: false

  footprint_padding: 0.02
  map_type: costmap

move_base.xml

<launch>
<!--
  Example move_base configuration. Descriptions of parameters, as well as a full list of all amcl parameters, can be found at http://www.ros.org/wiki/move_base.
-->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
    <param name="footprint_padding" value="0.01" />
    <param name="controller_frequency" value="10.0" />
    <param name="controller_patience" value="3.0" />

    <param name="oscillation_timeout" value="30.0" />
    <param name="oscillation_distance" value="0.5" />

    <!--
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    -->

    <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" />
    <!--
    <rosparam file="$(find navigation_stage)/move_base_config/dwa_local_planner_params.yaml" command="load" />
    -->
  </node>
</launch>

costmap_common_params.yaml

#For this example we'll configure the costmap in voxel-grid mode
map_type: voxel

#Voxel grid specific parameters
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 9
mark_threshold: 0

#Set the tolerance we're willing to have for tf transforms
transform_tolerance: 0.3

#Obstacle marking parameters changed from 2.5 to 4.5 meters
obstacle_range: 14.5
max_obstacle_height: 2.0
#raytrace range changed from three to five meters
raytrace_range: 15.0

#The footprint of the robot and associated padding
footprint: [[-0.325, -0 ...