Hello guys,

I am working on mobile robot navigation with the RP LiDAR and Ultrasonic sensors. RP LiDAR will be the main sensor for navigation and Ultrasound sensors will be used to detect obstacles not seen by the RP LiDar (like Overhangs, etc). I already have a map of the environment.

My lidar is at some height of the robot So I have ultrasonic sensors that will detect the obstacles through rangesensorlayer which are below the height of lidar. Unfortunately after detecting the obstacles by the ultrasonic sensor, DWA planner isn't able to make a new path.

I do not have issues when the lidar detects and obstacle, it perfectly makes a new path to reach the goal but the issue arises when the ultrasonic sensor is able to detect an obstacle and after detecting, it just goes to recovery behavior.