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move_base global planner plans outside static map

asked 2014-06-20 03:19:47 -0600

aswin gravatar image

updated 2014-06-20 03:20:09 -0600

Hi, The default global planner plans outside the static map i.e. unexplored area. Is there any parameter I have missed out?

planner_params.yaml

base_local_planner: dwa_local_planner/DWAPlannerROS
recovery_behaviors: []
planner_frequency: 0
planner_patience: 1000.0
controller_patience: 1000.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false
controller_frequency: 20.0

global_constmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 1.0
  static_map: true

Unfortunately during mapping, not all parts of the room was bounded by a wall i.e. black color cells in the occupancy map. The planner found a path that goes outside the static map from one end and then into the other side of the room.

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answered 2014-06-20 12:07:31 -0600

David Lu gravatar image

It depends on which global planner you're using, but in navfn, the parameter is allow_unknown

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I am using navfn and I set it to allow_unknown as false. However, it still plans outside static map. I verified this parameter by printing it in initialize() and also viewing the potential that goes outside the static map.

aswin gravatar imageaswin ( 2014-07-02 01:18:07 -0600 )edit

Ok so when I use track_unknown: true and unknown_cost_value: 255 inside costmap_common.yaml, I can get what I want. If this is a necessary parameter, it must be added to the navigation tutorial

aswin gravatar imageaswin ( 2014-07-02 02:41:35 -0600 )edit

Great! Glad you figured it out.

David Lu gravatar imageDavid Lu ( 2014-07-03 12:24:05 -0600 )edit

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Asked: 2014-06-20 03:19:47 -0600

Seen: 421 times

Last updated: Jun 20 '14