Path Planning error with Move_Base

asked 2014-12-18 14:27:48 -0600

Ashwin27 gravatar image

updated 2014-12-23 01:32:09 -0600


I am currently implementing a simulation wherein a robot is supposed to explore and map an unknown environment. An exploration algorithm decides on a frontier cell for a robot to move towards and then sends it to move_base which does the rest. This works for some time, but then move_base begins to provide a faulty path, one that cuts right through a high cost route, as shown in the figure. The drive folder in the link also contains the rqt_graph, tf tree and a screenshot of the Stage simulation.

At this stage, the robot stops moving and continuously displays the warning:

Unable to get starting pose of robot, unable to create global plan

This is then followed by the errors: Cannot clear map because pose cannot be retrieved and Aborting because a valid plan could not be found. Even after executing all recovery behaviors.

If I then teleoperate the robot a bit and restart the whole process, it continues exploring for a while again, till move_base plans another path through a high-cost region.

Am I making any obvious mistakes here? Should I retune my costmap parameters? Is there any way I can make move_base provide an alternate that does not traverse through the high cost region?

If anyone has any suggestions at all on how I can prevent this from happening, please share them, I would greatly appreciate it.

Thank You.

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Could you please your map and more important the tf_views graph?

Andromeda gravatar image Andromeda  ( 2014-12-19 01:26:20 -0600 )edit

Hello Andromeda,

I've uploaded the tf_views graph and the ros graph to the drive folder. The map that I'm using is a willow garage map in Stage, I have uploaded a screenshot of the same.

Ashwin27 gravatar image Ashwin27  ( 2014-12-19 02:29:51 -0600 )edit

ok! Sorry! but I m working right now and cannot open such links!

Andromeda gravatar image Andromeda  ( 2014-12-19 02:48:02 -0600 )edit

Sure, that's quite alright. Please do look at it a little later when you're free, I would greatly appreciate your help.

Ashwin27 gravatar image Ashwin27  ( 2014-12-19 04:11:11 -0600 )edit

I looked your files. Sorry no idea... Some experienced guys can help you better than me.

Andromeda gravatar image Andromeda  ( 2014-12-19 10:52:54 -0600 )edit