rtabmap and move_base with kinect

asked 2020-04-18 14:37:21 -0500

karim_a_kamal gravatar image

updated 2020-04-18 15:21:11 -0500

matlabbe gravatar image

Hi there, i'm trying to use navigation stack with kinect 360 while i'm trying to use 2D Nav Goal in rviz i get this warning and no path created

[ WARN] [1587236784.720457641]: Clearing both costmaps to unstuck robot (3.00m).
[ WARN] [1587236789.723455825]: Rotate recovery behavior started.

here my yaml files:


obstacle_range: 5.0
raytrace_range: 6.0
max_obstacle_height: 1.0  
footprint: [[0.35,-0.26], [0.35,0.26], [-0.4,0.26], [-0.4,-0.26]]
#robot_radius: ir_of_robot
inflation_radius: 0.4  # max. distance from an obstacle at which costs are incurred for planning paths.
footprint_padding: 0
transform_tolerance: 1.0 #second 
cost_scaling_factor: 100.0
map_type: costmap
observation_sources: scan point_cloud
scan: {sensor_frame: base_scan, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
point_cloud: {sensor_frame: base_scan, data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true}


  max_vel_x: 0.45
  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
  meter_scoring: true
  holonomic_robot: false


  global_frame: map
  robot_base_frame: base_link
  update_frequency: 1.0
  publish_frequency: 1.0
  static_map: false
  width: 30.0
  height: 30.0
  resolution: 0.1
  origin_x: -15
  origin_y: -15
   - {name: static_layer, type: "rtabmap_ros::StaticLayer"}
   - {name: inflation_layer, type: "costmap_2d::InflationLayer"}


  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 10.0
  static_map: false  
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.015
  - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
  - {name: inflation_layer, type: "InflationLayer"}

and here is my launch file move_base.launch

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  <!--  <param name="controller_frequency" value="10.0"/> 
    <param name="controller_patiente" value="15.0"/> -->
    <rosparam file="$(find my_learning)/param/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find my_learning)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_learning)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_learning)/param/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find my_learning)/param/base_local_planner_params.yaml" command="load" />
    <param name="base_global_planner" type="string" value="navfn/NavfnROS" />

    <remap from="odom" to="/rtabmap/odom"/>



Can anyone help me with this?

edit retag flag offensive close merge delete


I follow too

Giuseppe_ gravatar image Giuseppe_  ( 2021-02-23 03:56:13 -0500 )edit

I suggest to post a screenshot of RVIZ with the local and global costmaps shown.

matlabbe gravatar image matlabbe  ( 2021-02-25 18:06:03 -0500 )edit