nav2d change path planner
Hello there, I use the nav2d package and works fine, but I'm not satisfied by the path planner. That's because it does not use simple rotation relative to robot's own frame and this leads the robot stucked in corners etc.
Is there a way to cooperate movebase with nav2dnavigator? Or maybe another path planner?
Asked by MariaKrgr on 2016-04-29 09:17:43 UTC
Answers
Hello, what kind of robot platform do you use? This is currently not easily done, as the Operator and Navigator communicate via a non-standard topic. Of course you can always replace both nodes with any other navigation solution (e.g. move_base).
However, if your robot platform is able to turn in place, the Operator should make use of this motion. If your robot gets stuck in corners, this is possible due to wrong parameter settings of robot_radius in Operator and Navigator. The Navigator should have a slightly larger value than the Operator.
Asked by Sebastian Kasperski on 2016-05-04 02:45:33 UTC
Comments
I currently use Pioneer robot simulator in V-REP. I will use your advices and come back.
Asked by MariaKrgr on 2016-05-05 04:20:44 UTC
In costmap.yaml (Operator uses it) I added: "footprint: [ [0.25, 0.17], [-0.25, 0.17], [-0.25, -0.17], [0.25, -0.17] ]". Should I also add robot_radius parameter?
I tried robot_radius=0.25 for Operator and robot_radius=0.3 for Navigator but it still has the same behaviour.
Asked by MariaKrgr on 2016-05-05 04:37:04 UTC
Now the robot can turn in place but it does not choose this motion often, resulting in collisions. I posted a new question here if you could help me :) http://answers.ros.org/question/233692/nav2d-collision-is-not-being-detected/
Asked by MariaKrgr on 2016-05-05 09:29:19 UTC
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