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Navigation Stack - Path Planning

asked 2015-03-16 22:51:22 -0600

musiqsoulchild
51 ●4 ●6 ●11

updated 2015-03-16 23:58:30 -0600

Hi All,

I have the navigation stack running on my husky robot. One problem I'm having is that the planned path is always too close to the corners. So when the robot reaches the corner, it gets stuck and starts initiating the recovery behavior (rotating). Anyone know the parameter to change so that the path is not as close to the edges/walls?

Picture can be seen here: http://s30.postimg.org/cqjf48z6p/path...

Thanks

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answered 2015-03-22 12:38:51 -0600

paulbovbel

4518 ●12 ●49 ●80 http://www.bovbel.com/

You'll want to increase the inflation radius in the costmap parameters, so that the robot tends to stay further away from obstacles ( http://wiki.ros.org/navigation/Tutori... ).

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Asked: 2015-03-16 22:51:22 -0600

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Last updated: Mar 22 '15

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