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TrajectoryPlannerROS not publishing local plan - robot only retroceding!

asked 2018-10-19 10:10:20 -0600

RiccardoGiubilato gravatar image

updated 2018-10-19 10:24:39 -0600

Hi all,

I am trying to run the move_base package on a differential drive robot set up with an nVidia Jetson TX1 running ROS Indigo and a ZED camera that publishes odometry.

The move_base package is set up roughly as indicated in http://wiki.ros.org/navigation/Tutori... .

The issue that I'm having is two/three-fold:

1) Launching the move_base package results pretty much always in a std::bad_alloc() exception. RAM usage is not a problem by looking at htop and the costmap dimensions are pretty small. The node launches successfully after trying a few times..

2) After publishing a goal pose in topic /move_base_simple_goal, TrajectoryPlannerROS publishes a global path but not a local path.

No local plan..!

3) move_base publishes a Twist command in /cmd_vel which is always the recovery behaviour command for my setup (negative x velocity)

Do you have any idea on what could be causing the previous issues??

Here are attached the relevant yaml configuration files and the launchfile:

common_params:

footprint: '[]'
inflation_radius: 0.1
subscribe_to_updates: true

global_frame: map
robot_base_frame: base_morpheus

observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
min_obstacle_height: -2
max_obstacle_height: 2

local_costmap

local_costmap:
  global_frame: map
  robot_base_frame: base_morpheus
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 10.0
  height: 10.0
  resolution: 0.05
  origin_x: -5.0
  origin_y: -5.0

  obstacle_range: 25
  raytrace_range: 30

  observation_sources: laser_scan_sensor
  laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
  min_obstacle_height: -2.0

global costmap

global_costmap:
  global_frame: map
  robot_base_frame: base_morpheus
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  width: 20.0
  height: 20.0
  resolution: 0.1
  origin_x: -10.0
  origin_y: -10.0

 obstacle_range: 25
 raytrace_range: 30

 observation_sources: laser_scan_sensor
 laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
 min_obstacle_height: -2.0
 max_obstacle_height: 2.0

base planner:

NavfnROS:
  allow_unknown: true

TrajectoryPlannerROS:

 global_frame_id: map
 max_vel_x: 0.02
 min_vel_x: 0.001
 max_vel_theta: 0.05
 max_vel_theta: 0.05
 min_in_place_vel_theta: 0.05

 escape_vel: -0.01

 acc_lim_theta: 0.5
 acc_lim_x: 0.5
 acc_lim_y: 0.5

 holonomic_robot: false

 xy_goal_tolerance: 0.1
 yaw_goal_tolerance: 0.15

launchfile:

<!-- launch move base node -->
 <launch>
   <node pkg="move_base" name="move_base" respawn="false" type="move_base" output="screen" >
 <!-- load config files -->
 <rosparam file="$(find autonav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
     <rosparam file="$(find autonav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
 <rosparam file="$(find autonav)/config/local_costmap_params.yaml" command="load" />
 <rosparam file="$(find autonav)/config/global_costmap_params.yaml" command="load" />
 <rosparam file="$(find autonav)/config/base_local_planner_params.yaml" command="load" />
 <remap from="/odom" to="/camera/odom" />
 <param name="recovery_behavior_enabled" value="false" />
   </node>
 </launch>
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answered 2018-10-22 07:41:51 -0600

RiccardoGiubilato gravatar image

Solved..!

1) for the std::bad_alloc() error: the JetsonTX1 drive was almost full, freeing some space prevent the error from happening.

2) the local planner was switched to DWA and it worked. I still don't know the reason for this

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Asked: 2018-10-19 10:10:20 -0600

Seen: 107 times

Last updated: Oct 22 '18