Teb_local_planner feasibility check always fails

asked 2018-05-01 10:32:03 -0500

A Smit gravatar image

I am using move_base with teb_local_planner but on every goal I get the same result first teb says the feasibilty check failed with the following message

[ WARN] [1525093179.924067116, 152.844000000]: TebLocalPlannerROS: trajectory is not feasible. Resetting planner...

This is repeated until recovery behaviours are attempted, these also fail with the following messages :

[ERROR] [1525093221.607037380, 168.074000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

So it seems the robot thinks it is on an obstacle while it's not, because this also happens when the map is empty.

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Comments

the feasibility check uses the footprint model defined in your costmap_2d configuration. Have you checked that? You might also compare your navigation config with the tutorials package.

croesmann gravatar imagecroesmann ( 2018-06-27 01:42:31 -0500 )edit