Localization problem particlecloud

asked 2019-08-26 11:21:16 -0500

aefka gravatar image

updated 2019-08-29 13:33:47 -0500

Hello, I am creating navigation. After launch my every nodes (amcl, move-base, map_server and configuration files costamps) my robot is following to the send goal, but can't reached them. Global and local maps are correct. I turn on topic "particlecloud" and saw that are a lot of position which robot can be. How can I fix it?

EDIT:

I am using a ROS kinetc.

base_local_planer_params:

DWAPlannerROS:
  max_vel_x: 0.3
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5


  holonomic_robot: false

costmap_commons:

obstacle_range: 2.5
raytrace_range: 3.0
min_obstacle_height: 0.0
footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]
#robot_radius: ir_of_robot
robot_radius: 0.5 # distance a circular robot should be clear of the obstacle
inflation_radius: 0.35
obstacles:
 observation_sources: laser_scan_sensor point_cloud_sensor
 laser_scan_sensor: {sensor_frame: hokuyo, data_type: LaserScan, topic: /mybot/laser/scan, marking: true, clearing: true}

plugins:
 - {name: static_map, type: "costmap_2d::StaticLayer"}
 - {name: obstacles, type: "costmap_2d::ObstacleLayer"}
 - {name: inflater, type: "costmap_2d::InflationLayer"}
# marking - add obstacle information to cost map
# clearing - clear obstacle information to cost map

point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}

global_costmap_params:

global_costmap:
  global_frame: odom
  robot_base_frame: chassis
  update_frequency: 2.0
  publish_frequency: 1.0
  resolution: 0.05
  static_map: true
  width: 10.0
  height: 10.0

local_costmap:

local_costmap:
  global_frame: odom
  robot_base_frame: chassis
  update_frequency: 2.0
  publish_frequency: 1.0
  static_map: false
  rolling_window: true
  width: 8.0
  height: 8.0
  resolution: 0.05

I sory for my previous description. I add a config files. My mobile robot only have one sensor - lms100, and it's only gazebo model. Everythink looks ok to moment, while my mobile robot have simply global path to goal. When goal is behind obstacles (from global map) robot behave strange - for example round in place. After few minutes, goal often reached, but it isn't what I want.

I have to do one more thing: when on global path to goal will appear unknown obstacles, robot shoud avoid them. On this moment robot is pushing the obstacles.

EDIT

this video show how mybot is behaving

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Comments

In order to help debug your problem we're going to need alot more information. What exactly is happening that you're trying to fix? What are your configs / platform / more information & diagrams. We can only give you vague answers without more complete description of the problem and setup.

stevemacenski gravatar imagestevemacenski ( 2019-08-27 17:24:44 -0500 )edit

a Edited my post, sory for previous description, writed on knee

aefka gravatar imageaefka ( 2019-08-28 13:38:16 -0500 )edit

I add video to show how my robot behaving

aefka gravatar imageaefka ( 2019-08-29 13:34:19 -0500 )edit

I am no means an expert on DWA, but that just looks like poorly tuned parameters

stevemacenski gravatar imagestevemacenski ( 2019-09-01 12:24:47 -0500 )edit