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Make global plan that includes obstacles from local costmap

asked 2020-10-17 05:57:22 -0600

tropic gravatar image

updated 2020-10-17 05:58:31 -0600


I have a navigation setup for a mobile robot. Local and global costmaps are running and navigation is working, however I would like to have the global planner replan when it sees obstacles in the local costmap. There are situations where it should come up with a new global plan because a pathway is blocked, but now the robot just stops. How can I make the global planner take local costmap obstacles into account if a pathway is blocked in order to generate a new global path?

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answered 2020-10-24 13:00:04 -0600

tropic gravatar image

The culprit in my case was the plugins defined in the local and global costmap yaml-files. After removing those plugins and just using the normal settings everything works as expected.

The robot now makes a new global plan when its initial pathway is blocked, see the video below:

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answered 2020-10-17 09:58:27 -0600

JackB gravatar image

See this answer. Its sounds like they describe the same scenario you are encountering (particularly case 1) and has the config files for you to compare against.

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Thank you for your suggestion. I tried that setup, and the specific settings do not work. I am not sure if those are the final settings run by that user, but it seems fundamentally wrong to set the local costmap to static, and some of the settings are redundant. If I run a similar setup the local costmap basically disappears and in won't help the global planner replan when the robot comes about a blocked pathway, unfortunately.

tropic gravatar image tropic  ( 2020-10-24 05:58:03 -0600 )edit

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Asked: 2020-10-17 05:57:22 -0600

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Last updated: Oct 24 '20