Obstacles seen by planning but not expected by AMCL

I am not sure how to formulate this question. Our robot has a hand made map of a space. We use fiducials to orient it on that map and use AMCL to maintain localization. Then we use move base etc to navigate to another area.

If we put an obstacle on our map (say a "no-go area") but there is not physical obstacle there, this will confuse AMCL.

How would we define a "no go area" that is not physical so that path planning avoids it, but AMCL is not bothered by the absence of something physical?

Asked by pitosalas on 2018-12-06 10:49:29 UTC

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Answers

It may cause issues, or maybe not. I have a set of stairs artificially blocked on the map and it causes no issue. I'm sure the more you move away from reality the more risk there is.

You should try it and see how it goes. If issues, you can use one map for AMCL and one map for Move_base. That should avoid the issue and allow you to mark up the no-go zones as much as you want. See the answers to my question here:

https://answers.ros.org/question/294462/nav-stack-one-map-for-amcl-and-one-for-move_base/

DISCLAIMER: I have yet to implement the two map system. It's on my list.

Asked by billy on 2018-12-06 12:43:31 UTC