Path not found when passing through doors

asked 2018-02-12 07:04:39 -0600

patriciaD gravatar image

updated 2018-08-24 03:11:20 -0600

Hello, I have a robot which has to navigate between two doors. I'm using TebLocalPlanner with each time I'm in front of the door, it never finds a path to go through. The robot is 60cm wide and the door is 75cm so it's pretty narrow but the planner should manage I guess. Has anyone managed to navigate in narrow situations like this? I have 'min_obstacle_dist': 0.1,
inflation dist .2 Thanks a lot

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Comments

if the question is still relevant. Which type of robot footprint are you using?

croesmann gravatar imagecroesmann ( 2018-06-27 01:55:46 -0600 )edit

I am using polygon because I have a rectangular robot . Yes it is still relevant. I also have the issue that sometimes the planner gets stuck on its own by obstacles like walls (especially when turning the back of the robot collides with the wall)

patriciaD gravatar imagepatriciaD ( 2018-06-27 15:57:53 -0600 )edit

okay, can you provide me with a small video, showing whats going on? or an example stage simulation configuration (like the ones in the teb_local_planner_tutorials package)?

croesmann gravatar imagecroesmann ( 2018-07-05 07:45:46 -0600 )edit

https://drive.google.com/open?id=11vX... For some reason I cannot upload video here. If it does not work, how can I send it to you?

patriciaD gravatar imagepatriciaD ( 2018-08-24 03:18:12 -0600 )edit