turtlebot stucks in free space while navigation [closed]

asked 2014-05-21 23:10:19 -0500

jihoonl gravatar image

updated 2014-05-28 16:27:13 -0500

While testing turtlebot navigation with stage simulation I found interesting behavior. Robot gets stuck in empty space and starts to rotate to clear costmap. Could anybody explain why robot gets stuck in empty space?

[ WARN] [1400749002.714297597, 125.900000000]: Clearing costmap to unstuck robot.

[ WARN] [1400749013.113075404, 136.300000000]: Clearing costmap to unstuck robot.

move_base configuration and video

You can test with turtlebot_stage package.

Installation

> wstool init . https://raw.githubusercontent.com/turtlebot/turtlebot/hydro-devel/turtlebot.rosinstall
> wstool merge https://raw.github.com/robotics-in-concert/rocon/hydro-devel/rocon_app_platform.rosinstall
> catkin_make

Start

> roslaunch turtlebot_stage turtlebot_in_stage.launch
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2018-01-30 21:09:07.263881

Comments

Seems like a local planner problem.

David Lu gravatar imageDavid Lu ( 2014-05-22 14:24:36 -0500 )edit

Yeah.. do you have any suggestion to track down the problem? I see this behavior with real robot and would like to solve it.

jihoonl gravatar imagejihoonl ( 2014-05-22 15:31:04 -0500 )edit

I retagged with eband, so maybe someone with that expertise can help you.

David Lu gravatar imageDavid Lu ( 2014-05-22 16:10:55 -0500 )edit

It uses trajectory local planner which is given by default navigation stack. It is just switchable to eband but it used trajectory local planner while I test.

jihoonl gravatar imagejihoonl ( 2014-05-22 17:52:56 -0500 )edit

Can you please edit your question to include the precise launch file you are using to get the described behavior?

David Lu gravatar imageDavid Lu ( 2014-05-27 09:34:13 -0500 )edit

The question is updated. Let me know if you need more information.

jihoonl gravatar imagejihoonl ( 2014-05-28 16:27:51 -0500 )edit

I also use my turtlebot to navigate with eband_local_planner. Yesterday, I removed a base_local_planner_params.yaml. I need to have both base_local_planner_params.yaml and eband_planner_params.yaml?

Ken_in_JAPAN gravatar imageKen_in_JAPAN ( 2014-05-29 06:28:27 -0500 )edit

I watched your video. The movement you point out is interesting. As a number of particle is getting a few around the turtlebot, turtlebot can localize. but I think a turtlebot's rotation means turtlebot's localization. That's turtlebot lost the position of itself. Am I wrong?

Ken_in_JAPAN gravatar imageKen_in_JAPAN ( 2014-05-29 06:45:03 -0500 )edit