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Robot Thinks It's Stuck When It Isn't

asked 2018-02-10 18:32:49 -0500

MarkyMark2012 gravatar image

Hi,

I've got an annoying problem here. I've trying to get the robot to un-dock from the charging station, navigate then come back.

In the screen-shot below you can see that there is free space round the robot, but in the planning output it wants to start recover procedures when there is no need. All it needs to do it reverse out (I've already set min_vel_x: -1.0 to achieve this). Still no luck. What else can I try tuning? I can't see anything else in dwa_local_planner_params.yaml, costmap_common_params.yaml, local_costmap_params.yaml or global_costmap_params.yaml which looks immediately obvious.

image description

Thanks

Mark

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Please provide more information about what planner you are using and what messages you're getting when things won't work.

David Lu gravatar imageDavid Lu ( 2018-02-13 12:01:55 -0500 )edit

I'm using the DWA planner (sorry thought I'd added that). The error message is "Rotate recovery can't rotate in place because there is a potential collision. Cost -1.0"

Which is odd because, as you can see in the screen shot there is a path that has been calculated (in the direction I would expect

MarkyMark2012 gravatar imageMarkyMark2012 ( 2018-02-13 13:51:24 -0500 )edit

What do you mean by visualizing the local footprint?

Thanks

MarkyMark2012 gravatar imageMarkyMark2012 ( 2018-02-18 13:44:38 -0500 )edit

There should be a Polygon topic that is something like .../whatever/local_costmap/footprint

David Lu gravatar imageDavid Lu ( 2018-02-18 20:58:03 -0500 )edit

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answered 2018-02-13 16:17:10 -0500

David Lu gravatar image

Try visualizing the robot's (local) footprint.

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Asked: 2018-02-10 18:32:49 -0500

Seen: 421 times

Last updated: Feb 13 '18