Sensor origin warning and abrupt exit while running frontier_exploration

asked 2019-02-10 02:23:49 -0500

kkvamshee gravatar image

updated 2019-02-12 00:39:24 -0500

I`m trying to run frontier_exploration using turtlebot to generate a map of an unknown environment.

It seems all the plugins are loaded without any problem but it shows a warning which says "The origin for the sensor at (-0.09, 0.01) is out of map bounds. So, the costmap cannot raytrace for it." Documentation suggests not to worry about this warning. But as soon as I complete publishing points in rviz launcher, terminal shows: 1. [INFO][x,y]:Sending goal 2. [WARN][x,y]:Current exploration task cancelled.

Parameters used:

  1. $(find turtlebot_navigation)/param/costmap_common_params.yaml with static_map: enabled: set to false
  2. costmap_exploration_turtlebot.yaml

    track_unknown_space: true
    global_frame: map
    rolling_window: false
    robot_base_frame: base_link
      - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
      - {name: sensor, type: "costmap_2d::ObstacleLayer"}
      - {name: inflation, type: "costmap_2d::InflationLayer"}
      resize_to_boundary: true
      frontier_travel_point: closest
      observation_sources: laser
      laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true}
      inflation_radius: 0.5

And is there any way to include vertices of exploration polygon in the launch file or in any of these yaml files.

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