Navfn plans path through obstacle?

Hi all,

Please refer to the image below: image description

The circular path is the local path while the path passing through the global costmap is the global path. Any ideas why the global path is passing through the global costmap? I am using move_base with navfn and trajectory rollout.

Thanks

Asked by DanThe on 2016-03-21 16:20:54 UTC

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Answers

If the obstacle was not present when the global planner calculated the global path, then it would explain what you are seeing. The global planner will not look for a new global path until the local planner tells it (via the move_base node) that it has "given up" because it could not follow it. The circular path that you are seeing for the local planner suggests that it is doing some strange oscillation, so you may want to adjust your settings to make sure it can give up and let the global planner re-plan.

Asked by al-dev on 2016-03-21 19:45:25 UTC

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Thanks for your reply. The obstacle was present when the global planner calculated the global path. The red arm of baselink is nearly touching the obstacle which is a vertical noticeboard on a stand that is taller than an average human.

Asked by DanThe on 2016-03-23 16:06:51 UTC

Ok but you are sure that the global costmap was marked like this when you gave the goal to move_base ? Your laser scans don't seem to match very well with the map, if you localization is not very stable it would explain that the marking of the obstacle on the costmap gets shifted.

Asked by al-dev on 2016-03-24 01:52:23 UTC