# ROS Patrolling_Sim, Robots lose costmap on new map

I am using the ROS patrolling simulator, which can be found by simple googling Patrolling simulator ROS. The simulator works perfectly fine, but when I try to run multiple robots on a map which I created, they patrol for a while but then one or both of the robots lose track of the cost map.

Giving these errors -

[WARN][1591296076.803363294,418.100000000] Clearing costmap to unstuck robot (3.000000m).
[WARN][1591296078.543657969,423.300000000]:Rotate recovery behavior started.
[  WARN][1591296080.364396688,428.700000000]:Clearing costmap to unstuck robot(1.840000m).
[ WARN] [1591296082.096444377,433.900000000]:Rotate recovery behavior started.
[ERROR] [1591296083.903096440,439.300000000]:Aborting because a valid plan couldnot be found. Even after executing all recovery behaviors.


But this does not happen once, once this begins, the robot continues indefinitely, sitting in place turning slightly for ages. After this, the robot will move slightly in the wrong direction and then completely lose localization, and continue to print out the above error. It is vital that I get this working and I have spent a long time trying to fix this problem.

I believe it must be the way in which I am entering the map into the simulator. The three files which control how this is done are listed below. The patrolling points shown in the graph correlate perfectly to where I want them to be in the map. But as I said the robots stop working.

If anyone could help me with this it would be greatly appreciated, I am sure its a silly error I am not seeing.

YAML FILE

image: testing.pgm
resolution: 0.05
origin: [-1,-1, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196


WORLD FILE

include "../hokuyo.inc"
include "../crobot.inc"
include "../floorplan.inc"

window(
size [ 800 700 1]         # Tamanho da janela em pixeis
rotate [ 0.000 0.000 ]    # Mapa não rodado
center [25.8 18.7125 ]       # Centro da Janela no ponto central do ambiente (em metros)
scale 6                # zoom da janela
show_data 0
)

floorplan (

size [22.05 18.2 1]   #metros (a imagem tem 344x344pixeis => 0.075 resolução no .yaml)

pose [11.025 9.1 0 0]

bitmap "testing.pgm"

)

include "robots.inc"


GRAPH FILE

***6***

***441***

***364***

***0.05***

***-1***

***-1***

**0**

50

80

3

1

N

200

3

NE

200

2

E

100

**1**

50

280

3

0

S

200

3

SE

160

4

E

270

**2**

145

75

2

0

W

100

5

E

240

**3**

130

200

4

0

SW

200

1

NW

160

4

NE

270

5

SE

310

**4**

320

280

3

1

W

270

3

SW

270

5

S

200

**5**

350

110

3

2

W

240

3

NW

310

4

N

200

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