Does navfn consider the size of the robot?

asked 2016-01-14 09:57:41 -0600

gian gravatar image

Hi,

It seems that navfn does not consider the size of the robot and the goal orientation when planning a path.

I'm using ROS hydro on Ubuntu 12.04, the robot is 1.3 m wide and 1.6m long and navfn plans a path trough a tight passage whose size is 1m.

In a second example the goal is 0.5m from the wall and parallel to the wall: the robot cannot reach this position since is width is 1.3m (0.65 > 0.5m) but navfn plans anyway a trajectory.

I modified the inflation radius parameter from 0.5 m to 1 m but nothing apparently change. How can avoid this behaviour?

Thanks.


Common costmap params:

footprint: [[-0.4, -0.65], [-0.4, 0.65], [1.25, 0.65], [1.25, -0.65]]

obstacle_range: 5

raytrace_range: 20

inflation_radius: 0.75

observation_sources: laser_scan_sensor

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

global_costmap:

global_frame: /map

robot_base_frame: /base_link

update_frequency: 5.0

static_map: true

local_costmap: global_frame: /map

robot_base_frame: /base_link

update_frequency: 10.0

publish_frequency: 5.0

static_map: false

rolling_window: true

transform_tolerance: 1

width: 7.5

height: 7.5

resolution: 0.05

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