troubles with local planner

asked 2015-09-25 05:56:38 -0600

jacobsolid gravatar image

updated 2015-09-25 08:08:47 -0600

Hi, I am on Ubuntu 14.04 ROS indigo, SLAM gmapping, real robot ROBULAB 10 I am having troubles with base_local_planner! Using move_base package, and I am giving a 2Dgoal in RVIZ, when the robot is close to obstacles the local planner can't generate the local path in order to follow the global one. However, my robot is not holonomic and it can rotate in place or move back to be fare from obstacles (I set min_in_place_vel_theta: 1.4). Now I am not sure if I am doing some mistakes somewhere in my config. files or the /move_base/base_local_planner (which is set to : base_local_planner/TrajectoryPlannerROS) is not able to generate a rotation or move back in order to be able to generate a safe local path? My configurations for the launch file, common, local, global cost maps and trajectory generation and two images (local cost map on the left and global cost map on the right) are bellow Any help will be well appreciated !

=======================[ LAUNCH FILE ]====================

   <arg name="sensor_range" default="2.0"/>
   <arg name="use_sim_time" default="false" />
   <param name="/use_sim_time" value="$(arg use_sim_time)"/>
   <arg name="show_rviz" default="true" />
  <arg name="map_size" default="202"/>
  <arg name="bringup_robulab" default="true"/>
  <include file="$(find robulab)/launch/bringup.launch" if="$(arg bringup_robulab)"/>
  <include file="$(find robulab)/launch/gmapping.launch">
    <arg name="bringup_robulab" value="false"/>  
    <arg name="show_rviz" value="false"/>  
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find robulab)/rviz_cfg/exploration.rviz" if="$(arg show_rviz)"/>
  <node pkg="move_base" type="move_base" respawn="true" name="move_base" >
    <param name="controller_frequency" value="20"/>
    <param name="planner_frequency" value="20"/>
    <param name="global_planner" value="BaseGlobalPlanner"/>
    <remap from="base_scan" to="scan"/>
    <remap from="cmd_vel" to="command_velocity"/>
    <rosparam file="$(find robulab)/yaml/costmap_common_robulab.yaml" command="load" ns="global_costmap"/> 
    <rosparam file="$(find robulab)/yaml/global_costmap.yaml" command="load" />  
    <rosparam file="$(find robulab)/yaml/costmap_common_robulab.yaml" command="load" ns="local_costmap"/> 
    <rosparam file="$(find robulab)/yaml/local_costmap.yaml" command="load" />
    <rosparam file="$(find robulab)/yaml/trajectory_planner_robulab.yaml" command="load"/>
    <!-- rosparam name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> 
    <rosparam file="$(find robulab)/yaml/dwa_loca_planner_robulab.yaml" command="load"/ --> 

=======================[ COST MAP COMMON ]====================

map_type: costma

/# Map management parameters

unknown_cost_value: 255

min_in_place_vel_theta: 2.0

/# Sensor management parameters

observation_sources: base_scan

base_scan: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

=======================[ COST MAP LOCAL ]====================


map_type: costmap

global_frame: /map

robot_base_frame: base_link

update_frequency: 5.0

publish_frequency: 2.0

static_map: false

rolling_window: true

width: 6.0

height: 6.0

origin_x: 0.0

origin_y: 0.0

inflation_radius: 0.35

=======================[ COST MAP GLOBAL ]====================


global_frame: /map

robot_base_frame: base_link

update_frequency: 5.0

publish_frequency: 2.0

raytrace_range: 3.0

obstacle_range: 2.5

static_map: true

rolling_window: false

#inflation_radius: 1.8

inflation_radius: 2.0

=======================[ TRAJECTORY PLANNER ]====================


/#Robot Configuration Parameters

max_vel_x: 0.305

back_up_vel: -0.2

acc_lim_x: 0.2

max_vel_theta: 0.65

min_vel_theta: -0.65

min_in_place_vel_theta: 1.4

holonomic_robot: false

/#Goal Tolerance Parameters

/#Trajectory Scoring Parameters

occdist_scale: 0.02

publish_cost_grid_pc: true

heading_lookahead: 0.2

vtheta_samples: 150

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