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Navigation global plan along the wall,and turn a corner failed. [closed]

asked 2016-10-21 02:21:57 -0500

Yang gravatar image

I build my own robot,everything is working.urdf,tf,kinect,hokuyo laser,gmapping,amcl,etc. But navitation is still failed. The main cause is global plan along the wall,turn a corner failed. Straight ahead is normal,the global plan path is the middle of road.When there is a turn,it's failed. Does anyone know about this problem? https://www.dropbox.com/sh/aozk4qvaq3...

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Closed for the following reason duplicate question by Yang
close date 2016-11-15 23:12:40.831305

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HI,everybody,i have solved the problem,The inflation_layer is not too small,increase the inflation_layer value up to 0.55,it is working.Good luck!

Yang gravatar image Yang  ( 2016-10-28 01:08:52 -0500 )edit

if the answer helped, please mark it as correct.

Procópio gravatar image Procópio  ( 2016-11-11 07:08:36 -0500 )edit

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answered 2016-10-21 06:24:51 -0500

Procópio gravatar image

You should add an inflation_layer to your costmap configuration. this way the global planning will create paths that are further away from obstacles and walls.

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Thanks your reply.I have tried it.The inflation_layer,i tried 0.2/0.3/0.5。The result is that the robot met the inflation area,then gave up action.The global path is very close to the inflation edge. According global planner Dijkstra's Algorithm ,the shortest path is right,but i don't know why failed

Yang gravatar image Yang  ( 2016-10-23 07:17:45 -0500 )edit

Hi @Yang, Which cofig. file you used to change the inflation_layer? Did you ever tried to turn off Dikjstra to change global planners?

jesus gravatar image jesus  ( 2019-03-08 13:53:49 -0500 )edit

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Asked: 2016-10-21 02:01:52 -0500

Seen: 394 times

Last updated: Oct 28 '16