move_base avoids dynamic obstacles with kinect but does not avoid with hokuyo lidar

asked 2018-07-30 09:41:46 -0500

missTurtle gravatar image

updated 2018-08-03 13:47:54 -0500

Hello! I am beginner to ROS. I am using Ubuntu 14 and ROS Indigo. I searched for the same problem but cannot find the answer. I appreciate if anyone knows the answer.

I am using one Turtlebot2 with Kinect and one with Hokuyo lidar. I run the gmapping and amcl packages. When navigating with move_base in the map, Turtlebot with Kinect avoids dynamic obstacles but Turtlebot with Hokuyo does not avoid dynamic obstacles and hits them. What is the reason and what should I do to make the Hokuyo one to also avoid dynamic obstacles?

Content of the file on the path /opt/ros/indigo/share/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro is as below:

< ! --

- Base      : kobuki

- Stacks    : hexagons

- 3d Sensor : kinect


<robot name="turtlebot" xmlns:xacro="">

<xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro"/>

<xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_common_library.urdf.xacro"/>

<xacro:include filename="$(find kobuki_description)/urdf/kobuki.urdf.xacro"/>

<xacro:include filename="$(find turtlebot_description)/urdf/stacks/hexagons.urdf.xacro"/>

<xacro:include filename="$(find turtlebot_description)/urdf/sensors/kinect.urdf.xacro"/>


<stack_hexagons parent="base_link"/>

<sensor_kinect parent="base_link"/>

<hokuyo_utm30lx_model name="hokuyo_laser" parent="base_link">

<origin xyz="0 0 +0.30" rpy="0 0 0" />



Thanks in advance

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I suggest you add comments about what you see in RVIZ when using the different sensors. Do the obstacles show up in RVIZ for the laser scanner? If not it means the sensor doesn't the see obstacles. If the laser scanner doesn't show up in RVIZ at all, then you know you have a config issue.

billy gravatar image billy  ( 2018-07-30 15:01:23 -0500 )edit

do you have tf transform from hokuyo link to base link ?

0xd1ma gravatar image 0xd1ma  ( 2018-07-31 03:06:40 -0500 )edit

New obstacles show up in RVIZ when using laser scanner. About the tf transform from hokuyo to base link, I am not sure how to be sure but I think it is there. I am editing my question to add the content of file /opt/ros/indigo/share/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro

missTurtle gravatar image missTurtle  ( 2018-08-03 13:40:28 -0500 )edit