Ask Your Question
0

global_plan goes through the wall

asked 2015-11-23 06:47:51 -0600

aba92 gravatar image

Hello,

I'm using navigation stack with following parameters:

(costmap_common_params.yaml)

global_frame: /map

robot_base_frame: base_footprint

update_frequency: 0.5

publish_frequency: 0.5

obstacle_range: 2.5

raytrace_range: 3.0

min_obstacle_height: 0.6

inflation_radius: 1.5

observation_sources: scan

scan: {sensor_frame: laser_scan_link, data_type: LaserScan, topic: stereo/laser_scan, marking: true, clearing: true}

(eband_planner_params.yaml)

EBandPlannerROS:

# TRAJECTORY CONTROL

differential_drive: true

# velocity limits

max_vel_lin: 0.4

max_vel_th: 0.2

min_vel_lin: 0.08

min_in_place_vel_th: 0.05

# goal tolerance

xy_goal_tolerance: 0.2

yaw_goal_tolerance: 0.2

(global_costmap_params.yaml)

global_costmap:

robot_base_frame: base_footprint

update_frequency: 0.5

publish_frequency: 0.5

static_map: true

transform_tolerance: 0.5

footprint_padding: 0.05

(local_costmap_params.yaml)

local_costmap:

global_frame: /map

robot_base_frame: base_footprint

update_frequency: 0.5

publish_frequency: 0.5

static_map: true

rolling_window: true

width: 5.0

height: 5.0

resolution: 0.05

transform_tolerance: 0.5

footprint_padding: 0.0

(move_base_params.yaml)

footprint: [[0.375, 0.375], [0.375, 0.0], [0.4125, 0.0], [0.4125, -0.0375], [0.375, -0.0375], [0.375, -0.375], [-0.075, -0.375], [-0.075, -0.4875], [-0.375, -0.4875], [-0.375, 0.4875], [-0.075, 0.4875], [-0.075, 0.375]]

The controller_frequency is set to 1.0. The problem is that the global plan computed goes through the wall. The plan of NavfnROS is fine. The bad one in the image is the global plan of EBandPlannerROS (robot tries to follow this one). As seen by the below image, Laser scan is well defined. I don't understand why this path is computed. Can anyone help me on this issue please?

image description

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
0

answered 2015-11-23 11:22:28 -0600

aba92 gravatar image

I just left eband planner. I am using the standard one, base_local_planner, and everything is ok! Thank you

edit flag offensive delete link more
0

answered 2015-11-23 07:53:02 -0600

Akif gravatar image

updated 2015-11-23 08:01:11 -0600

It seems like your laser data is not used in global costmap. Are you sure about your laser topic name (stereo/laser_scan) etc.?

Update: I missed that NavFn is working well, sorry. Then, there may be a problem with namespaces or EBandPlannerROS configuration.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2015-11-23 06:47:51 -0600

Seen: 127 times

Last updated: Nov 23 '15