Unable to traverse a turtle-bot 3 through narrow passages

asked 2019-09-27 04:34:39 -0500

rg-28 gravatar image

updated 2019-10-01 01:12:21 -0500

I was implementing the navigation stack recently. I was facing some problem that when I tried to traverse the bot through narrow passages it was unable to do so because in the global costmap as we know that the inflation radius for the obstacle is kept high to avoid collisions but even if I decrease the inflation radius it does not have any effect on the global costmap. So can anyone tell whether I am tweaking with the right parameters or should I try anything else?

Here is the complete code that I have been using for the navigation stack: https://github.com/rg-28/ant!

This is the image of the global costmap that is created in rviz: (https://drive.google.com/file/d/1hGyk...)

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Comments

from what I can see you have pretty high value of inflation (13) set in your costmap_common_params.yaml file. Try reducing that, because planner will only plan through the narrow passage if it knows that footprint of robot will git in passage

Choco93 gravatar imageChoco93 ( 2019-09-27 06:55:35 -0500 )edit

Sir I tried to do what you suggested but it is still showing the same costmap. For your reference I have added the link for the image of the map and costmaps created in rviz after decreasing the inflation radius.

rg-28 gravatar imagerg-28 ( 2019-10-01 01:13:58 -0500 )edit

Any area that is shown as grey is considered non-traversable while planning. For such environment you are using, even inflation of 1 looks too high. Try setting zero, if there is enough space for robot to pass then it should traverse through passage.

Choco93 gravatar imageChoco93 ( 2019-10-01 02:35:47 -0500 )edit