Vast inscribed radius of the robot's footprint in the costmap parameters

asked 2019-07-30 06:33:52 -0500

Daniel_ gravatar image

Since the navigation on my robot didn't work well (or at all) I wanted to test if the use of teb_local_planner instead of base_local_planner might improve things. But now I get this warning every time I launch move_base. I think that this is also the reason the navigation didn't work with base_local_planner either.

The inscribed radius of the footprint specified for TEB optimization (0.000000) + min_obstacle_dist (0.442500) are smaller than the inscribed radius of the robot's footprint in the costmap parameters (179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, including 'footprint_padding'). Infeasible optimziation results might occur frequently!

I don't understand where this huge robot's footprint is comming from because the footprint of my 0.65 mm x 0.485 mm should be correct and the footprint_padding is very small.

moro01@mach-moro01:~$ rosparam get /move_base/local_costmap/footprint
'[[-0.325,-0.2425],[-0.325,0.2425],[0.325,0.2425],[0.325,-0.2425]]'

moro01@mach-moro01:~$ rosparam get /move_base/local_costmap/footprint_padding
0.01
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