Carrot planner unable to plan at all [closed]

asked 2012-04-10 17:12:12 -0500

weiin gravatar image

I'm trying out the carrot planner by adding the base_global_planner parameter in "base_local_planner_params.yaml":

controller_frequency: 15.0
recovery_behaviors: [{name: rotate_recovery, type: rotate_recovery/RotateRecovery}]
planner_patience: 2.0
controller_patience: 2.0
base_global_planner: carrot_planner/CarrotPlanner

TrajectoryPlannerROS:
# Robot Configuration Parameters
  max_vel_x: 0.8
  min_vel_x: 0.30
  escape_vel: -0.1
  max_rotational_vel: 1.5
  min_in_place_rotational_vel: 0.3

  acc_lim_th: 1.9
  acc_lim_x: 0.50
  acc_lim_y: 0.50

  holonomic_robot: false

# Goal Tolerance Parameters
  yaw_goal_tolerance: 0.2
  xy_goal_tolerance: 0.3
  latch_xy_goal_tolerance: true #false

# Forward Simulation Parameters
  sim_time: 1.5
  vx_samples: 6
  vtheta_samples: 20

# Trajectory Scoring Parameters
  path_distance_bias: 0.6
  goal_distance_bias: 0.8
  occdist_scale: 0.01
  heading_lookahead: 0.325
  dwa: false

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

The other move_base parameter files are done according to the navigation tutorials.

However, I am not able to get the robot to move anywhere (even if the goal is in complete free space). All I'm getting is:

"The carrot planner could not find a valid plan for this goal"

When using the default navfn planner, I notice there is a topic /move_base/NavfnROS/plan, but with carrot planner, nothing is published. I'm not sure if this has anything to do with the problem, or if this means I'm using the carrot planner wrongly?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2014-03-26 10:55:13