Ask Your Question
0

Local planner ignores collision with humans in social navigation layers

asked 2017-07-05 07:44:45 -0600

dmkarage gravatar image

updated 2017-07-06 03:37:22 -0600

Hi guys,

I have implemented the social navigation proxemic layer as described in wiki/social_navigation_layers and also on top of that a layer on my own based on human intention.

I use a virtual detected human as described here human_aware_navigation/people_detection, and assign the social costmaps around him.

When considering the layers both in global and local costmap yaml files the robot path is successfully created around these maps. However, when I include the layers only in the local costmap, although the costmap layers are visible (in the correct positions), the local planner does not take the layers into account and the robot path traverses through it.

I already checked the solution described here #q209409 but without any result. Do you have any suggestions on what could be wrong?

Could it be that the human is virtual (namely known people_msgs) and the laser does not track him physically?

Thanks in advance for your help.

edit retag flag offensive close merge delete

Comments

May I suggest a title change? The problem seems to be that the planner is ignoring collision obstacles, which in this case happen to come from a specific plugin.

gvdhoorn gravatar imagegvdhoorn ( 2017-07-06 03:24:29 -0600 )edit

I changed the title. Please feel free to propose any new modification :)

dmkarage gravatar imagedmkarage ( 2017-07-06 03:37:38 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2018-05-22 21:23:00 -0600

Dharmateja Kadem gravatar image

Generally, whenever DWA local planner detects an obstacle it stops the robot and move_base sends control to the global planner to replan. In your case there is no People layer in Global Costmap, so obstacles are not generated in global costmap. This results in global planner to plan path through the obstacle and the cycle continues. So you should have all the obstacle layers in both local and global costmaps.

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: 2017-07-05 07:44:45 -0600

Seen: 308 times

Last updated: May 22 '18