How can i make pr2 go closer to a wall

asked 2014-10-24 02:20:41 -0600

SamsonAu gravatar image

updated 2014-11-22 17:05:54 -0600

ngrennan gravatar image

Hello, I am trying to let PR2 go parallel with a Wall as close as it can be (hopeful around 5cm).

I tried to change some parameters in global_costmap, local_costmap and safe_teleop_base using rqt_reconfigure since I am not sure which one of them affect the real robot.

i made the inflation_radius and even the robot radius to a very small number and I could check from the Rviz that the cost_map has changed. However, PR2 stops everytime when the space between the robot and the wall is around 20 cm and i can see there is still space between /safe_teleop_base/local_costmap/obstacle_layer_footprint/footprint_stamped and the obstacle (wall).

how can i let PR2 go as close as it can be to an obstacle and what parameters should i adjusts?

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This seems like a hard problem to me. It took us a long time to get it close to a table. You'd not only need free space currently, but also find a trajectory that is free + obviously remove all safety/padding/etc.

dornhege gravatar image dornhege  ( 2014-10-24 04:13:56 -0600 )edit

Can you post what the published costmap looks like when you're close to the wall?

David Lu gravatar image David Lu  ( 2014-10-24 11:23:41 -0600 )edit