Turtlebot get stuck when no obstacles around

asked 2015-09-28 04:25:50 -0500

vonyud gravatar image

Hello all,

currently I am using a turtlebot for exploration (rtabmap for slam and frontier_exploration for exploration). The problem is, when the turtlebot drive on the inflation area and is given a goal in the opposite direction, it just get stuck like it cannot turn around or it thinks there are obstacles around.

Does it have something to do with the base local planner?

TrajectoryPlannerROS:

  # Robot Configuration Parameters - Kobuki
  max_vel_x: 0.5
  min_vel_x: 0.0 

#  max_vel_y: 0.0  # diff drive robot
#  min_vel_y: 0.0  # diff drive robot

  max_trans_vel: 0.5 # choose slightly less than the base's capability
  min_trans_vel: 0.1  # this is the min trans velocity when there is negligible rotational velocity
  trans_stopped_velocity: 0.1

#  max_rotational_vel: 3.0  # choose slightly less than the base's capability
#  min_rot_vel: 0.6  # this is the min angular velocity when there is negligible translational velocity

  max_vel_theta: 3.0
  min_vel_theta: -3.0

  rot_stopped_velocity: 0.2                               #0.4
  min_in_place_rotational_vel: 1.5                    #0.6
  min_in_place_vel_theta: 1.5

  acc_lim_x: 1.0
  acc_lim_theta: 3.2
  acc_lim_y: 0.0      # diff drive robot

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.3
  xy_goal_tolerance: 0.25
  latch_xy_goal_tolerance: true

  # Forward Simulation Parameters
  sim_time: 1.5
  sim_granularity: 0.025
  vx_samples: 6
  vy_samples: 1       # diff drive robot, there is only one sample
  vtheta_samples: 20

  meter_scoring: true

  pdist_scale: 0.2                    #0.95 # The higher will follow more the global path.
  gdist_scale: 0.8                       #0.2
  occdist_scale: 0.3                       #0.01
  publish_cost_grid_pc: false

#move_base
controller_frequency: 20.0 #The robot can move faster when higher.

#global planner 
NavfnROS:
    allow_unknown: true
    visualize_potential: false

Thanks in advance.

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Comments

When the robot gets to the inflation area it behaves like if there are obstacles around because for the robot the infation area are obstacles indeed, it shouldn enter there. Are you using a circle as a footprint?, maybe you have a weird footprint geometry that makes the robot stuck in some areas.

donmrsir gravatar imagedonmrsir ( 2015-10-02 06:41:35 -0500 )edit