I couldn't get an ideal path while using RVIZ

asked 2017-05-17 00:53:51 -0500

little_bob gravatar image

updated 2017-05-19 07:11:36 -0500

Hi,Here is a image I make during my little car running ROS with move_base.I place two obstacles and make the gap narrow for the car to cross. I want the car to move from position 1 to position 2,and RVIZ shows this green line(I think it's a path).The car then keeps going until it gets to this position the image shows and it begins to rotate.It just rotates and won't go anymore.In my mind,I know this car can't cross this gap,so the car may change its path(maybe just like the yellow arrows I drew on this image) to cover this and get to the goal position.But this didn't happen.Why?

image description

Here are the parameters I set:

base_local_planner_params.yaml:

TrajectoryPlannerROS:
    max_vel_x: 0.15
    min_vel_x: 0.10
    max_vel_theta: 0.15
    min_vel_theta: -0.15
    max_rotational_vel: 0.15
    min_in_place_vel_theta: 0.10
    escape_vel: -0.14
    holonomic_robot: false
    xy_goal_tolerance: 0.10
    yaw_goal_tolerance: 0.2
    transform_tolerance: 2.0
    controller_frequency: 2.0
    vx_samples: 50
    vtheta_samples: 30
    latch_xy_goal_tolerance: false
    dwa: false
    #############
    occdist_scale:0.1
    gdis_scale: 1.5
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Comments

ROS:Indigo Car:Raspbian Jessie

little_bob gravatar image little_bob  ( 2017-05-17 00:56:01 -0500 )edit

The global plan (probably the green line in your photo) is decided by the global planner. The local planner will just try to follow that path. If local planner somehow fails to do so (the gap is too small in this case), it should trigger the global planner to "replan".

DavidN gravatar image DavidN  ( 2017-05-17 22:03:41 -0500 )edit

So the problem could lie with the global planner itself. What global planner are you using?

DavidN gravatar image DavidN  ( 2017-05-17 22:04:20 -0500 )edit

I don't know the meanning of "What global planner".I use move_base´╝îI am new to ROS,I didn't set the kind of global planner.Can I type some commands to know the kind of global planner I am using?

little_bob gravatar image little_bob  ( 2017-05-18 02:28:21 -0500 )edit