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Navigation Stack - Path Planning

asked 2015-03-16 22:51:22 -0500

musiqsoulchild gravatar image

updated 2015-03-16 23:58:30 -0500

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 -0500

paulbovbel gravatar image

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 -0500

Seen: 1,042 times

Last updated: Mar 22 '15