clear_costmap_recovery is not clearing the map

asked 2015-10-30 09:52:02 -0600

Manolis Chiou gravatar image

Hi,

I am using clear_costmap_recovery as the only recovery behavior with move_base. Although it is called successfully when the recovery behavior is activated, it is not successful in cleaning the costmap. I can verify this by both the robot behavior and the costmap on rviz. This forces me to call the clear_costmaps service of move_base which works.

I get a message:

[ WARN] [1446215670.032938465]: Clearing costmap to unstuck robot (1.000000m).
[ERROR] [1446215670.099599679]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

I do the following to load move_base:

<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
     <remap from="/cmd_vel" to="/navigation/cmd_vel" />
    <!--param name="NavfnROS/default_tolerance" value="0"/-->
    <rosparam file="$(find experiments_launch)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find experiments_launch)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find experiments_launch)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find experiments_launch)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find experiments_launch)/config/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find experiments_launch)/config/recovery_params.yaml" command="load" />
    <rosparam file="$(find experiments_launch)/config/clear_costmap_params.yaml" command="load" />
    <rosparam file="$(find experiments_launch)/config/navfn_params.yaml" command="load" />
    <param name="controller_frequency" type="double" value="15.0"/>
    <param name="controller_patience" type="double" value="15.0"/>  
    <param name="planner_patience" type="double" value="5"/>
    <param name="recovery_behavior_enabled" type="bool" value="true"/> 
 </node>

I do load (successfully) one recovery with the recovery_params.yaml :

recovery_behaviors:

  - name: conservative_reset
    type: clear_costmap_recovery/ClearCostmapRecovery

and to load the behavior parameters (successfully) with clear_costmap_params.yaml :

conservative_reset:

  reset_distance: 1

I am sure is something stupid I am missing...so please help :)

Thanks, Manolis

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Comments

Do you observe any change in the costmap, when you call that behavior?

dornhege gravatar imagedornhege ( 2015-11-06 04:23:41 -0600 )edit

No Change at all...

Manolis Chiou gravatar imageManolis Chiou ( 2015-11-10 17:58:50 -0600 )edit

I have the same issue (as describe here) Did you find a solution for the problem?

tobi93 gravatar imagetobi93 ( 2016-04-22 09:00:05 -0600 )edit

nope, I haven't found a solution!

Manolis Chiou gravatar imageManolis Chiou ( 2016-05-12 09:46:21 -0600 )edit

Maybe this info is related to your problem https://github.com/ros-planning/navig...

EwingKang gravatar imageEwingKang ( 2019-07-09 03:19:12 -0600 )edit