Ask Your Question
0

nav_Msgs::GetPlan and make_plan service is not returning path

asked 2019-11-12 07:08:05 -0600

jennifer gravatar image

updated 2019-11-12 11:04:26 -0600

Hello,

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

Comments

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

bob-ROS gravatar imagebob-ROS ( 2019-11-12 07:41:02 -0600 )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 imagejennifer ( 2019-11-12 10:50:50 -0600 )edit

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

bob-ROS gravatar imagebob-ROS ( 2019-11-13 01:56:06 -0600 )edit

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

jennifer gravatar imagejennifer ( 2019-11-13 04:58:06 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2019-12-04 08:42:27 -0600

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

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2019-11-12 07:08:05 -0600

Seen: 34 times

Last updated: Dec 04