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Fluid navigation with pioneer 3DX

asked 2016-12-01 04:56:41 -0500

Delky gravatar image

updated 2016-12-01 07:48:58 -0500

Hi everyone,

Arthur (a mate) and me are working on a pioneer 3DX and we try to correctly setup the navigation stack. We followed the tutorial Setup and Configuration of the Navigation Stack on a Robot (great tutorial !) and we have a first working configuration ! So we tried it with manuals goals (Rviz) and all is done. Our next step now is to implement our exploration node. So we generate a goal behind the door (cf picture) but our robot stops its cmd_vel before access to the corridor.

image description

We have some ideas where the problem comes from :

  • Configuration of navigation node, particularly the base_local_planner
  • Maybe the trajectory computation
  • anything else ..

Do you have any proposal to fix our problem ?

Thank you in advance. P.

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answered 2016-12-03 21:32:00 -0500

Shay gravatar image

It seems that the inflation of the obstacles is too large, so that your robot couldn't go through the door. The purple cells represent obstacles inflated by the inscribed radius of the robot, the center point of the robot should never cross a purple cell.

You can try to tune the inflation_radius param in the costmap_common_params.yaml.

For costmap you can refer to costmap_2d wiki.

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Asked: 2016-12-01 04:56:41 -0500

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Last updated: Dec 03 '16