Ask Your Question
1

move_base footprint

asked 2014-06-16 03:06:03 -0500

Maya gravatar image

updated 2014-06-16 03:14:49 -0500

Hello,

I have a problem with the move_base package. It keeps saying those kind of things :

[ WARN] [1402905398.913790779]: Control loop missed its desired rate of 3.0000Hz... the loop actually took 0.5543 seconds

And after the first time an error is prited. Meaning I run it once, it gets a lots of warning and the robot just go crazy and then I have this error the second time, along with the above warning :

[ERROR] [1402905389.655349880]: You must specify at least three points for the robot footprint, reverting to previous footprint.

The thing is I'm not using the footprint since I defined a radius. Here is the costmap_common_params.yaml file :

obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.285
inflation_radius: 0.3
max_obstacle_height: 1
min_obstacle_height: 0.0
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true}

So I don't have any footprint but it's normal. THe same exact file work flawlessly on Groovy, the problem is on hydro.

It follow exactly the same scheme as here without being fatal but I though it has been corrected.

Here I ask the robot to go more or less forward...

the crazy robot

I really don't know what is wrong there. Any help will be greatly appreciated ! Thanks

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2014-06-16 13:54:06 -0500

Maya gravatar image

OK nevermind. Something was fishy in the costmap parameters files and I still don't know what. But I use something rather drastic and I re-wrote all of them as simpler versions (less parameters, closer to the explanation on the move_base page) and now it's working fine. I have no idea what happen but I probably defined something weird somewhere.

Sorry for all the fuzz about it.

edit flag offensive delete link more

Your Answer

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

Add Answer

Question Tools

1 follower

Stats

Asked: 2014-06-16 03:06:03 -0500

Seen: 1,742 times

Last updated: Jun 16 '14