I use move_base and explore_lite,but robot always stuck by the wall.
I want to use explore_lite
and move_base
to explore unknow area automaticly.But my robot always stuck by the wall in this condition.(I dont know how to insert a picture,so ...)
(left is wall,and the slash is my robot,head down).it will go ahead first ,and go back .Again and again.
Condition like this.
| /
Can you help me? Thers is my params of move_base.
common_param:
obstacle_range: 3.0
raytrace_range: 3.0
footprint: [[0.22, -0.22], [0.22, 0.22],[-0.22,0.22],[-0.22,-0.22]]
#robot_radius: ir_of_robot
inflation_radius: 0.15
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
local_map_param.yaml
local_costmap:
global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.025
transform_tolerance: 0.5
global_map_param.yaml:
global_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
rolling_window: false
map_type: costmap
resolution: 0.025
map_type: costmap
base_local_planner_param.yaml
controller_frequency: 10.0
planner_frequency: 3.0
oscillation_timeout: 10.0
oscillation_distance: 0.3
TrajectoryPlannerROS:
max_vel_x: 0.25
min_vel_x: 0.05
max_vel_y: 0.0
min_vel_y: 0.0
max_vel_theta: 1.5
min_vel_theta: 1
escape_vel: -0.1
acc_lim_x: 1
acc_lim_y: 0.0
acc_lim_theta: 2
holonomic_robot: false
yaw_goal_tolerance: 0.2
xy_goal_tolerance: 0.15
sim_time: 2.0
oscillation_reset_dist: 0.1
Asked by Miaow on 2018-08-11 09:55:20 UTC
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