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Turtlebot doesn't go to desired goal!!

asked 2016-04-07 15:19:32 -0500

niraj007 gravatar image

updated 2016-04-08 12:21:10 -0500

image descriptionHi Everyone, I appreciate it very much if someone can explain me the problem here.

I am using Turtlebot 2 with Kinect sensor for autonomous navigation. I follow the Turtlebot tutorial for this purpose. I have create a map here using rosbag record with linear_update value of 0.1 as the map was skewed in higher value.

Now then I load the map using map_server and launch turtlebot amcl. The robot can sucessfully navigate to some goal point such as in the straight path, but when the goal point is inside the room, it goes up to the door and stopped suddenly. In some case, the robot even doesn't move from its current position. In amcl, I recieve something like this;

DWA planner failed to produce path. [ WARN] [1460044692.767036876]: Clearing costmap to unstuck robot (3.000000m). [ WARN] [1460044693.167373773]: Rotate recovery behavior started. [ WARN] [1460044693.566868655]: Clearing costmap to unstuck robot (1.840000m). [ WARN] [1460044693.966807677]: Rotate recovery behavior started. [ERROR] [1460044694.366874644]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

I don't know much about the ROS, still learning. Is it because of the value of linear update?Do I need to adjust the parameters in move_base? Please give me some idea on this.

Thanks in advance for your consideration.

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Can you post a screens shot of local costmap at the moment robot stops and gives "DWA planner failed to produce path"?

DavidN gravatar imageDavidN ( 2016-04-08 06:40:05 -0500 )edit

Hi DavidN , thanks for the response. I attached the screenshot when robot stops. And one more thing, when the robot hit the obstacles, it keep hitting untill it finally stop instead of avoiding it!

niraj007 gravatar imageniraj007 ( 2016-04-08 12:22:38 -0500 )edit

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answered 2016-04-08 10:02:18 -0500

wassimhariri gravatar image

The only thing to think about, especially that you said you can only move in a straight line, that your turtle bot is detecting the 2 torso present on it as obstacles.

The solution for this is that you have to set the position of the kinect in the URDF in the exact place, so that the turtle bot will understand that its own torso is not an obstacle.

If you are a beginner and you dont want to mess with the URDF, simply change the range of the angle in such away it wont detect the torso (for example start angle 60 degree and end angle -60 degrees)

Try one the above solutions, but for sure your turtle bot is detecting the torso as obstacles. Good luck

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Hi wassimhariri, thanks for the idea. I checked the files inside urdf folder of turtlebot_description package, but I didn't see the file that have angle range parameter? FYI I use source installation of Turtlebot.

niraj007 gravatar imageniraj007 ( 2016-04-08 12:26:47 -0500 )edit

hi, you need to open the driver of the kinect to find the angle ranges, and it could also be in the parameters in the launch file...you need to check sorry i never worked with kinect

wassimhariri gravatar imagewassimhariri ( 2016-04-10 11:44:45 -0500 )edit

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Asked: 2016-04-07 15:19:32 -0500

Seen: 875 times

Last updated: Apr 08 '16