[ROS2] Global planner create a path pass through obstacle

Hi everyone, I'm using navigation2 on ROS2 (Dashing) and I have a problem about the global planner, when I placed an object in front of my mobile robot, it generated a path which pass through obstacle. Eventually, it crashed the obstacle. Here is my local cosstmap image description

And this is my global costmap image description

And here is my config for local and global and dwb controller Sorry, I dont know how to add yaml format to here image description

image description

Asked by drtritm on 2020-12-10 06:12:50 UTC

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Answers

The answer was that I placed the "observation_sources" and "scan" position wrongly. It needs to be in the same level of layer_plugin, not in it

Asked by drtritm on 2021-01-12 06:23:39 UTC