nav2d collision is not being detected

asked 2016-05-05 09:27:10 -0600

MariaKrgr gravatar image

Hello! I use nav2d but does not work totally fine.
When I

rosservice call /StartExploration

the robot gets closer to corners (or tables, chairs etc) and the path planner draws paths right and left alternately, until the robot passes very closely to these obstacles or it stucks on them. And the most weird thing is that, when it stucks the robot does not realize it and "erase" the obstacle it is stucked into, without recovering.

Any help?

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Comments

Can you please post a screenshot from RVIZ at the relevant situation, including map and local costmap. In narrow terrain, the robot will likely move close to obstacles, but in wide terrain it should always keep some distance.

Sebastian Kasperski gravatar image Sebastian Kasperski  ( 2016-05-06 02:44:44 -0600 )edit