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How to limit navigation planner plan in specific area on the map, i.e just from the middle of corridors?

asked 2016-04-10 10:16:45 -0500

Rickardo Leos gravatar image

updated 2016-05-22 18:56:30 -0500

130s gravatar image

Dear Mates,

Can anyone tell me how to limit navigation planner plan in specific area on the map, i.e just from the middle of corridors/edges? So that the robot can only move following the centre of walls.

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Are you asking if you can limit the planner so that the robot always tries to maximize its distance from each wall when going through a corridor? If the hallway is 10 m wide, you want the path to be at 5m?

pgigioli gravatar image pgigioli  ( 2016-04-10 13:25:12 -0500 )edit
Rickardo Leos gravatar image Rickardo Leos  ( 2016-04-12 05:27:15 -0500 )edit

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answered 2016-04-12 09:30:16 -0500

pgigioli gravatar image

I'm not aware of a strict way of programming this behavior but there are parameters that you can tune that may result in the behavior that you are looking for.

Try increasing occdist_scale in your dwa_local_planner_params.yaml file. This will increase the weight for how much the controller tries to avoid objects.

Also, try increasing the inflation_radius in your costmap_common_params.yaml file. This will increase the radius in meters to which the map inflates obstacle cost values.

Be careful with the inflation_radius though. If it is too high, then the robot will be unable to navigate through tight spaces.

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answered 2016-04-10 12:22:54 -0500

spmaniato gravatar image

You can probably achieve such behavior by either tuning the (existing) global and/or local costmaps or by defining your own costmap layer. See http://wiki.ros.org/costmap_2d and http://wustl.probablydavid.com/public...

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Asked: 2016-04-10 10:16:45 -0500

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Last updated: Apr 12 '16