I use move_base and explore_lite,but robot always stuck by the wall. [closed]

asked 2018-08-11 09:55:20 -0600

Miaow gravatar image

updated 2018-08-12 00:29:40 -0600

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
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Closed for the following reason duplicate question by Miaow
close date 2018-08-15 20:21:55.385382