move_base is constantly sending escape command
I have a robot set up with a pointcloud camera which I convert to laserscan and t2665 for odometry. When I run it with Office it looks like all of the transforms are pointing in the right direction and I can control it manually with the joystick and it goes in the right direction. But whenever I try to give it a goal in rviz it starts moving backwards at the escape_vel speed. No errors though. Here's at least what I think are the relevant parameters.
TrajectoryPlannerROS:
- maxvelx: 0.35
- minvelx: 0.25
- escape_vel: -0.23
- mininplaceveltheta: 0.6
- xygoaltolerance: 0.2
- yawgoaltolerance: 0.1
- holonomic_robot: false
- latchxygoal_tolerance: true
- oscillationresetdist: 0.25
global_costmap:
- global_frame: odom
- robotbaseframe: base_link
- transform_tolerance: 2.5 # seconds
- update_frequency: 10
- publish_frequency: 5
- width: 30.0
- height: 30.0
- static_map: false
costmapcommonparams
- obstacle_range: 6.0
- raytrace_range: 8.5
- footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]
- map_topic: /map
- trackunknownspace: true
- observationsources: laserscan_sensor
- laserscansensor: {sensorframe: cameradepthframe, datatype: LaserScan, topic: scan, marking: true, clearing: true}
Asked by bigblue on 2021-02-17 16:30:24 UTC
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