ignore obstacles behind the laser

asked 2015-04-15 09:35:20 -0600

hannjaminbutton gravatar image

Hey I want to use the Navigation Stack on my robot with a laser scanner and wheel odometry. Everything is working fine but when I send goals it doesnt work. The problem is that the laser scanner is just in front of the robot, so behind the laserscanner there are some points detected and the navigation stack interprets them as obstacles. Therefore I have always some obstacles in front of my robot and it doenst move anymore. How can I tell my robot that these data are no obstacles and it should ignore them? Do I have to adjust the raytrace_range? What exactly is the raytrace range about?

Thanks in advance :)

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Are the incorrect points within the robot's footprint?

David Lu gravatar image David Lu  ( 2015-04-15 11:23:18 -0600 )edit

Well roswtf shows that move_base is unconnected to local_costmap/footprint and global_costmap/footprint. However, I can visualize the foot print in rviz.

hannjaminbutton gravatar image hannjaminbutton  ( 2015-04-16 01:19:11 -0600 )edit