move_base publishes cmd_vel with all 0

asked 2014-09-08 04:43:16 -0600

pkohout gravatar image


i am working on a pioneer3DX and the navigation stack. But the problem is, sometimes move_base publishes under cmd_vel a geometry_msgs/Twist with all linear and all angular values 0.

Here a picture of the situation.

image description

Here is my config file for the Trajectory Planner:

  default_tolerance: 0.5
  default_tolerance: 0.5
  acc_lim_z: 0.05
  acc_lim_x: 0.3
  acc_lim_y: 0.3
  min_in_place_rotational_vel: 0.1
  holonomic_robot: false
  yaw_goal_tolerance: 0.15
  xy_goal_tolerance: 0.15
  pdist_scale: 0.8

If you need further information just tell me.

Regards Peter

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