Robot doesn't Follow its path and particle cloud spreads out
Hi Everyone,
Has anyone had an experience with the robot following the path and going off it from time to time? It causes my robot to run into the walls and Im struggling with finding the solution to this problem. I should also mention that the robot doesn't see the obstacles and I don't know how to go out this.
Kind regards, Maciej
With the reply to the comment I am posting all my config files below, if code is needed, this will be provided too.
Launch file:
<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="base_frame" value = "base_link"/>
<param name="fixed_frame" value = "map"/>
<param name="use_cloud_input" value="true"/>
<param name="use_laser_input" value="true"/>
<param name="publish_tf" value="true"/>
<param name="publish_odom" value="true"/>
<param name="use_odom" value="false"/>
<param name="use_imu" value="false"/>
<param name="use_alpha_beta" value="true"/>
<param name="max_iterations" value="10"/>
</node>
<node name="map_server" pkg="map_server" type="map_server" args="/home/maciejm/catkin_ws/src/map1.yaml"/>
<node pkg="my_sensor" type="my_sensor" name="my_sensor" output="screen">
<param name="sensor_param" value="param_value" />
</node>
<node pkg="my_sensor" type="laser_cloud" name="laser_cloud" output="screen">
<param name="sensor_param" value="param_value" />
</node>
<node pkg="robot_setup_tf" type="my_odom" name="my_odom" output="screen">
<param name="odom_param" value="param_value" />
</node>
<node pkg="robot_setup_tf" type="tf_broadcaster" name="broadcaster" output="screen">
<param name="broadcaster" value="param_value" />
</node>
<node pkg="robot_setup_tf" type="tf_listener" name="listener" output="screen">
<param name="listener" value="param_value" />
</node>
<node pkg="robot_setup_tf" type="pose_publisher" name="pose_publisher" output="screen">
<param name="pose_publisher" value="param_value" />
</node>
<node pkg="robot_setup_tf" type="base_controller" name="base_controller" output="screen">
<param name="base_controller" value="param_value" />
</node>
<node type="laser_scan_assembler" pkg="laser_assembler" name="my_assembler">
<remap from="scan" to="tilt_scan"/>
<param name="max_scans" type="int" value="400" />
<param name="fixed_frame" type="string" value="base_link" />
</node>
<node type="point_cloud_assembler" pkg="laser_assembler" name="my_assembler2">
<remap from="cloud" to="my_cloud_in"/>
<param name="max_clouds" type="int" value="400" />
<param name="fixed_frame" type="string" value="base_link" />
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find my_robot_name_2dnav)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find my_robot_name_2dnav)/global_costmap_params.yaml" command="load" />
<rosparam file="$(find my_robot_name_2dnav)/base_local_planner_params.yaml" command="load" />
</node>
<node pkg="rviz" type="rviz" name="rviz" output="screen">
<param name="rviz" value="param_value" />
</node>
</launch>
Base local planner:
TrajectoryPlannerROS:
max_vel_x: 0.25
min_vel_x: 0.1
max_vel_theta: 1.0
min_in_place_vel_theta: 0.4
acc_lim_theta: 10.0
acc_lim_x: 10.0
acc_lim_y: 10.0
holonomic_robot: false
meter_scoring: true
Global costmap:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: true
Local costmap:
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 5.0
publish_frequency: 5.0
static_map: true
rolling_window: true
/*width: 6.0
/*height: 6.0
resolution: 0.05
obstacles: 5.0
Costmap common:
obstacle_range: 1.5
raytrace_range: 1.5
#robot_radius: 0.1
inflation_radius: 0.5
transform_tolerance: 0.3
footprint: [ [0.25, 0.25], [-0.25, 0.25],[-0.25, -0.25], [0.25, -0.25 ...
You should provide more information like packages, launch files, configuration files, parameters you use, and any console outputs (warnings, errors, etc), and screenshots if applicable.
Here you go Akif, I hope this helps!!!