Ask Your Question
0

Activate move base recovery behaviors

asked 2017-09-08 11:31:31 -0600

rastaxe gravatar image

Dear ROS users, I am writing a nav_core recovery plugin to use with move_base and the trajectory rollout planner. To effectively test my code, I would like to be able to trigger the recovery behavior in someway, or tell the planner to activate a recovery often. In fact, when the robot is stuck, recovery behaviors are not always activated. I tried to lower the value of controller_patience in move base, but it seems that does not work. Is there a way to tell the planner to activate the recovery behaviors?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2017-09-10 17:14:02 -0600

move_base will invoke the recovery behaviors on three conditions: An oscillation was discovered, no global plan was received for some amount of time, or the local planner failed to find a valid velocity command for some amount of time. You can try forcing these conditions as test cases?

edit flag offensive delete link more

Comments

Thanks for the answer. In my case, tuning the oscillation_timeout parameter is enough to trigger recovery behaviour. The default value is 0, which means infinite time.

rastaxe gravatar imagerastaxe ( 2017-09-13 10:50:39 -0600 )edit

I'm sorry, but I'm confused by your comment. Did you mean that tuning the oscillation parameter fixed your problem?

Sidd gravatar imageSidd ( 2017-09-22 15:56:04 -0600 )edit

yes, putting a small value (not zero) on the oscillation_timeout triggers the recovery behaviour very often, which was what I was looking for (only for testing my plugin).

rastaxe gravatar imagerastaxe ( 2017-11-23 10:56:53 -0600 )edit

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: 2017-09-08 11:31:31 -0600

Seen: 577 times

Last updated: Sep 10 '17