Ask Your Question
1

Turtlebot + Frontier Exploration: Turning in Place at the Start

asked 2016-06-20 17:20:46 -0600

eugene_ang gravatar image

I have curious issues using the frontier_exploration package on my Turtlebot and would appreciate anyone helping me understand better what is going on under the hood.

Firstly, this is a simulated run on Gazebo of my robot setup.

After I ask the robot to go forth and explore, it begins by turning in place. This invariably happens no matter what starting exploration point I pick. I also get the following error messages, which probably point at the problem:

[ WARN] [1466389076.511953487, 657.183000000]: Please select an initial point for exploration inside the polygon
[ INFO] [1466389079.366449392, 658.110000000]: Sending goal
[ INFO] [1466389079.574537491, 658.152000000]: Region boundary set
[ INFO] [1466389086.897870100, 660.082000000]: Got new plan
[ERROR] [1466389086.898554785, 660.082000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389087.596126130, 660.278000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389088.219151245, 660.484000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389088.984638998, 660.678000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389089.730673868, 660.880000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ INFO] [1466389090.284299471, 661.110000000]: Got new plan
[ERROR] [1466389090.284972952, 661.110000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389090.755919337, 661.278000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389091.294571326, 661.478000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389091.920927691, 661.678000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389092.427586470, 661.878000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ INFO] [1466389092.912826709, 662.078000000]: Got new plan
[ERROR] [1466389092.913268554, 662.078000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389093.670462783, 662.280000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389094.369503898, 662.478000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ERROR] [1466389095.643821480, 662.678000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ INFO] [1466389096.474418339, 662.878000000]: Got new plan
[ERROR] [1466389096.474903849, 662.878000000]: None of the 0 first ...
(more)
edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
2

answered 2016-08-10 20:19:55 -0600

Jam gravatar image

Try turn off the robot model (show footprint instead) and turn on the frontiers (point cloud) in rviz.
And observe how the explore algorithm discover and choose the frontiers.
There are three parameter about how to choose frontier as a goal to navigation. (closet, middle, centroid).

the error message is about the base_local_planner can not find the target cells,
try to git clone the navigation code and check how to adjust the planner parameters.

Hope this can help. :)

edit flag offensive delete link more
0

answered 2016-09-07 15:44:42 -0600

bona gravatar image

It seems there is no valid frontiers (frontier points in free space) for the robot to navigate. Have you tried with a different initial location?

meanwhile, maybe you will be interested in our 3d exploration package for Turtlebot: http://wiki.ros.org/turtlebot_explora...

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2016-06-20 17:20:46 -0600

Seen: 1,161 times

Last updated: Sep 07 '16