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nav2d change path planner

asked 2016-04-29 09:17:43 -0500

MariaKrgr gravatar image

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 move_base with nav2d_navigator? Or maybe another path planner?

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answered 2016-05-04 02:45:33 -0500

Sebastian Kasperski gravatar image

updated 2016-05-04 02:46:22 -0500

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.

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I currently use Pioneer robot simulator in V-REP. I will use your advices and come back.

MariaKrgr gravatar image MariaKrgr  ( 2016-05-05 04:20:44 -0500 )edit

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.

MariaKrgr gravatar image MariaKrgr  ( 2016-05-05 04:37:04 -0500 )edit

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 :)

MariaKrgr gravatar image MariaKrgr  ( 2016-05-05 09:29:19 -0500 )edit

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Asked: 2016-04-29 09:17:43 -0500

Seen: 197 times

Last updated: May 04 '16