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

edit

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 ...