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Path planning

asked 2021-04-06 09:39:57 -0600

hediimohamed gravatar image

updated 2021-04-07 11:16:06 -0600

Hello everyone, I'm trying to imititate the move_base . Can I predict if there will be any collision before moving the robot . For example: Check this screenshot, the global planner created a path but it's on the inflation layer of the costmap, the goal will never be attended, Is there any solution so I can predict this ? image description

costmap params image description

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@hediimohamed in the future, please do not post answers that are not actually answers. If you need to add more information to your original question (for example, your costmap params), then edit your original question. I've removed your answer and added the content to your question. As another note, it would likely be more useful to see the parameters as actual text instead of an image -- for example the contents of your YAML file or a call to rosparam get. Images are more difficult to search. Good luck getting your question answered!

jarvisschultz gravatar image jarvisschultz  ( 2021-04-07 11:19:03 -0600 )edit

Well recieved Thank you, It won't happen again !

hediimohamed gravatar image hediimohamed  ( 2021-04-07 14:07:48 -0600 )edit

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answered 2021-04-07 08:30:51 -0600

miura gravatar image

Increasing the footprint or robot_radius of the cost map may help. First, try setting the robot_radius to 1.0, which is easy to set and much larger than the default value. If it works, try to adjust it based on the size of the robot. For non-circular robots, it is recommended to set footprint in the end.

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Thank you for your help, In fact it's a non circular robots, and I still wanted to try increasing the robot_radius and it failed I'll attach a screenshot of all the params :

hediimohamed gravatar image hediimohamed  ( 2021-04-07 09:27:45 -0600 )edit

If footprint is set, it will take precedence over robot_radius. Can you try doubling or tripling each value of footprint?

miura gravatar image miura  ( 2021-04-07 09:41:21 -0600 )edit

Already did, the width of the inflation layer has increased, but the planned path is still the same !

hediimohamed gravatar image hediimohamed  ( 2021-04-07 09:47:42 -0600 )edit

The next possibility is to set the inflation layer parameters.

Increasing the inflation_radius and decreasing the cost_scaling_factor may help. I can't explain the details, but I think there are different stages of inflation, and adjusting the parameters to increase the "Inscribed" area will help you achieve your goal.

ref :

miura gravatar image miura  ( 2021-04-07 10:06:55 -0600 )edit

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Asked: 2021-04-06 09:39:57 -0600

Seen: 146 times

Last updated: Apr 07 '21