ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

nav_Msgs::GetPlan and make_plan service is not returning path

asked 2019-11-12 07:08:05 -0500

jennifer gravatar image

updated 2019-11-12 11:04:26 -0500


I have the move_base node running in my navigation stack. I call the GetPlan service separately to calculate the path (not Euclidean distance) between the robot start and a given goal points. However, instead of returning a path in the map, the service client returns a straight Euclidean distance across the obstacles in the map. What wrong am I doing?

image description

edit retag flag offensive close merge delete


What does your costmaps look like? Looks like there is only a static map layer.

bob-ROS gravatar image bob-ROS  ( 2019-11-12 07:41:02 -0500 )edit

When I run rostopic echo for both the globalcostmap and the localcostmap, it shows proper values with 0s and some nos.. What else should I check?

jennifer gravatar image jennifer  ( 2019-11-12 10:50:50 -0500 )edit

You should be able to visualize them in rviz (by clicking this ). Do they look realistic in your case?

bob-ROS gravatar image bob-ROS  ( 2019-11-13 01:56:06 -0500 )edit

Check this screenshot. It looks fine but the path is generated across the obstacles

jennifer gravatar image jennifer  ( 2019-11-13 04:58:06 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2019-12-04 08:42:27 -0500

jennifer gravatar image

I have wrongly set the static_map to false in the global_costmap_params.yaml file. I changed it true and now I get a proper path

edit flag offensive delete link more

Question Tools



Asked: 2019-11-12 07:08:05 -0500

Seen: 245 times

Last updated: Dec 04 '19