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Why does move_base abort this path?

asked 2016-03-30 16:31:48 -0500

pgigioli gravatar image

I'm using frontier_exploration to do autonomous mapping and this is the first goal that it sends the robot when it is initialized.

path

The robot can't move and I get these errors:

[ERROR] [1459373069.392635517]: Footprint spec is empty, maybe missing call to setFootprint?
[ WARN] [1459373069.393029517]: Invalid Trajectory 0.000000, 0.000000, 0.400000, cost: -9.000000
[ WARN] [1459373069.393286183]: Rotation cmd in collision
[ INFO] [1459373069.394777850]: Error when rotating.
[ INFO] [1459373069.490389850]: Got new plan

Eventually, all of the recovery behaviors fail and I get the error:

[ERROR] [1459373090.449866595]: Aborting because a valid control could not be found. Even after executing all recovery behaviors
[ERROR] [1459373090.450383095]: Failed to move

This can't be a problem with the costmaps because there aren't any obstacles nearby.

Any thoughts?

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I think this is related to this http://answers.ros.org/question/20474...

DavidN gravatar image DavidN  ( 2016-03-30 21:22:59 -0500 )edit

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answered 2016-06-14 02:54:21 -0500

achimk gravatar image

What about your footprint? You get an error message saying that the footprint is empty. Try visualizing the footprint in RVIZ, maybe that one is much bigger than the actual robot.

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answered 2019-02-08 14:32:29 -0500

Void gravatar image

Your goal is currently inside your robot's footprint. You can check the RViz topic with footprint in the name to see. Move the goal outside the footprint.

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Asked: 2016-03-30 16:31:48 -0500

Seen: 894 times

Last updated: Feb 08 '19