Rotate recovery can't rotate in place because there is a potential collision

asked 2018-09-29 03:57:04 -0500

HKLrbt gravatar image

Hi everybody I first time try to use move_base plan the path in Rviz.

I just use the move_base node and set the base_footprint to an squre.

> obstacle_range: 0.1
> raytrace_range: 0.1 
> footprint:
> [[-0.305,-0.3],[-0.305,0.3], [0.305,
> 0.3], [0.305,-0.3]]
> inflation_radius: 0.1

and this is my costmap setting

> global_costmap:    global_frame: map  
> robot_base_frame: base_footprint   
> update_frequency: 1.0
>   static_map: ture
> 
> local_costmap:   global_frame: map  
> robot_base_frame: base_footprint  
> update_frequency: 1.0  
> publish_frequency: 2.0   static_map:ture
> 
> TrajectoryPlannerROS:   max_vel_x: 1  
> min_vel_x: 0.5   max_rotational_vel:0.5
> acc_lim_th: 3.2   acc_lim_x: 2.5   acc_lim_y: 2.5
> holonomic_robot: false

Then my launch file like this

<launch>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find sx_robot)/maps/test_map.yaml" output="screen"/>
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="controller_frequency" value="10.0"/>
    <param name="controller_patiente" value="15.0"/>
    <rosparam file="$(find sx_robot)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find sx_robot)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find sx_robot)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find sx_robot)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find sx_robot)/config/base_local_planner_params.yaml" command="load" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="footprint_map_broadcaster" args="0 0 0 0 0 0 /base_footprint /map 100" />

</launch>

I just only use a map and move_base node and set the tf between map and footprint.I just set the /initialpose to initialize the

Robot pose and when I use RVIZ to set the 2D goal and visualize the global path I got this message

NODES
  /
    base_link_map_broadcaster (tf/static_transform_publisher)
    map_server (map_server/map_server)
    move_base (move_base/move_base)

auto-starting new master
process[master]: started with pid [6433]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fde56e1c-c3b6-11e8-926c-f8633f5c04b3
process[rosout-1]: started with pid [6446]
started core service [/rosout]
process[map_server-2]: started with pid [6463]
process[move_base-3]: started with pid [6464]
process[base_link_map_broadcaster-4]: started with pid [6467]
[ INFO] [1538205135.237267904]: Loading map from image "/home/hkwal/catkin_model/src/sx_robot/maps/test_map.pgm"
[ INFO] [1538205135.239784458]: Read a 576 X 544 map @ 0.050 m/cell
[ INFO] [1538205135.554126358]: Loading from pre-hydro parameter style
[ INFO] [1538205135.599227155]: Using plugin "obstacle_layer"
[ INFO] [1538205135.607268789]:     Subscribed to Topics: nav_realsense
[ INFO] [1538205135.628088336]: Using plugin "inflation_layer"
[ INFO] [1538205135.667222391]: Loading from pre-hydro parameter style
[ INFO] [1538205135.676034730]: Using plugin "obstacle_layer"
[ INFO] [1538205135.677535985]:     Subscribed to Topics: nav_realsense
[ INFO] [1538205135.692024229]: Using plugin "inflation_layer"
[ INFO] [1538205135.722289421]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1538205135.727479619]: Sim period is set to 0.10
[ WARN] [1538205135.730095556]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1538205136.737183146]: Recovery behavior will clear layer obstacles
[ INFO] [1538205136.751209272]: Recovery behavior will clear layer obstacles
[ WARN] [1538205840.709862907]: Clearing costmap to unstuck robot (3.000000m).
[ WARN] [1538205845.810142256]: Rotate recovery behavior started.
[ERROR] [1538205845.810559652]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ WARN ...
(more)
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Comments

See what happens after setting static map to "true". May not be related but always preferred to spell correctly.

That error means that the costmap shows obstacle right at the robot, or very near the robot. You need to setup up your costmap with appropriate feedback (sensor) and initial pose.

billy gravatar imagebilly ( 2018-10-01 12:02:25 -0500 )edit