Turtlebot + Frontier Exploration: Turning in Place at the Start

asked 2016-06-20 17:20:46 -0500

eugene_ang
11 ●2 ●4 ●4

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)

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answered 2016-08-10 20:19:55 -0500

Jam
77 ●6 ●8 ●12

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. :)