ROS Resources: Documentation | Support | Discussion Forum | Service Status | Q&A answers.ros.org
Ask Your Question
2

Navigation stack - global plan goes straight through obstacles

asked 2017-03-21 15:04:01 -0500

epsilonjon gravatar image

updated 2017-03-22 07:44:45 -0500

Hi,

I'm attempting to use the Navigation stack to autonomously drive my robot. I have set it up according to the tutorials and tuning guides, but am experiencing a few issues. Most notably, it will occasionally plan routes straight through obstacles, even when there is a clearer path:

image description

I was wondering what would be causing this, and what parameters I should be changing? I am using navfn for the global planner, but there doesn't seem to be too many parameters I can change:

http://wiki.ros.org/global_planner?di...

I would say bout 50% of the time it plans the route successfully, and 50% it does not.

Thanks for your help.

Edit:

My costmap configurations are as follows:

common_costmap.yaml:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.1275], [-0.25, 0.1275], [0.06, 0.1275], [0.06, -0.1275]]
footprint_padding: 0.01
resolution: 0.01
robot_base_frame: base_footprint
update_frequency: 0.5
publish_frequency: 0.5
transform_tolerance: 1.0

#layer definitions
static:
  map_topic: /map
  subscribe_to_updates: true

inflation:
  inflation_radius: 0.1

obstacles:
  observation_sources: "/rtabmap/cloud_map"
  "/rtabmap/cloud_map": {sensor_frame: /camera_depth_optical_frame, data_type: PointCloud2, topic: /rtabmap /cloud_map, marking: true, clearing: true}

global_costmap.yaml:

global_frame: map
rolling_window: false
track_unknown_space: false

plugins:
  - {name: static,                  type: "costmap_2d::StaticLayer"}
  - {name: inflation,               type: "costmap_2d::InflationLayer"}

local_costmap.yaml:

global_frame: odom
rolling_window: true

plugins:
  - {name: obstacles, type: "costmap_2d::ObstacleLayer"}
  - {name: inflation, type: "costmap_2d::InflationLayer"}
edit retag flag offensive close merge delete

Comments

Can you share your costmap configurations? (Especially global costmap)

Akif gravatar imageAkif ( 2017-03-22 01:52:26 -0500 )edit

@Akif - I've updated my question to include these. Thanks.

epsilonjon gravatar imageepsilonjon ( 2017-03-22 07:45:09 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
2

answered 2017-03-23 07:27:05 -0500

Akif gravatar image

As seen from your global_costmap.yaml file, you do not incorporate obstacle layer into global costmap.

You should change

plugins:
  - {name: static,                  type: "costmap_2d::StaticLayer"}
  - {name: inflation,               type: "costmap_2d::InflationLayer"}

to

plugins:
  - {name: static,                  type: "costmap_2d::StaticLayer"}
  - {name: obstacles,            type: "costmap_2d::ObstacleLayer"}
  - {name: inflation,               type: "costmap_2d::InflationLayer"}
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: 2017-03-21 15:04:01 -0500

Seen: 411 times

Last updated: Mar 23 '17