Side lidar causes localization problems
I have a robot base with a 180deg side lidar (the lidar faces from the angle 0 - x direction of the robot - to the angle -180deg). When I give a 2D Nav goal in rviz, then my robot doesn't behaves well: it seems like staying at the same position (or rotating when in reality is just steering) even though in Gazebo is indeed moving. This makes me think that it is a localization problem.
When I change the urdf model so that the lidar faces forward (-90 to 90deg) though, the robot behaves perfectly with the same configuration file.
I think that the root of the problem is either the or SLAM but I can't identify it. In particular I think that maybe the fact that the -0.01deg space is unknown, while the +0.01deg known, is problematic.
Any idea on how to solve it?
I use ROS1, melodic, hectorslam, movebase.
costmapcommonparams.yaml:
map_type: costmap
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
robot_radius: 0.5 # footprint of the robot or the radius of the robot if it is circular
inflation_radius: 0.55 # the robot will treat all paths that stay 0.55 meters or more away from obstacles as having equal obstacle cost
transform_tolerance: 0.6
obstacle_layer:
enabled: true
obstacle_range: 3.0 # the robot will only update its map with information about obstacles that are within 2.5 meters of the base
raytrace_range: 3.5 # the robot will attempt to clear out space in front of it up to 3.0 meters
inflation_radius: 0.1
track_unknown_space: true
combination_method: 1
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: scan_filtered, marking: true, clearing: true} #topic: scan_filtered
inflation_layer:
enabled: true
observation_persistence: 0.0
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.8 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
observation_persistence: 0.0
map_topic: "/map"
localcostmapparams.yaml:
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
# transform_tolerance: 1.0
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
globalcostmapparams.yaml:
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
# static_map: false
static_map: true
rolling_window: false
track_unknown_space: true
width: 1024
height: 1024
origin_x: -51.25
origin_y: -51.25
resolution: 0.1
# transform_tolerance: 1.0
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
hector_slam.launch:
<?xml version="1.0"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_link"/>
<arg name="odom_frame" default="odom"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan_filtered"/> <!--scan_filtered-->
<arg name="map_size" default="1024"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.1"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.05"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<param name="map_pub_period" value="1.0"/>
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>
<!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
</launch>
move_base.launch:
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<!-- Costmaps -->
<rosparam file="$(find cb_navigation)/cfg/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find cb_navigation)/cfg/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find cb_navigation)/cfg/local_costmap_params.yaml" command="load" />
<rosparam file="$(find cb_navigation)/cfg/global_costmap_params.yaml" command="load" />
<!-- Global planner -->
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="planner_frequency" value="1" />
<param name="planner_patience" value="5.0" />
<!-- Local Planner -->
<!-- Teb Planner -->
<!-- <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<rosparam file="$(find cb_navigation)/cfg/teb_local_planner.yaml" command="load" /> -->
<!-- NeoLocalPlanner (For a single front wheel) -->
<param name="base_local_planner" value="neo_local_planner/NeoLocalPlanner"/>
<rosparam file="$(find cb_navigation)/cfg/neo_local_planner.yaml" command="load" />
<!-- Common local planner parameters -->
<param name="controller_frequency" value="20.0" />
<param name="controller_patience" value="15.0" />
<remap from="odom" to="odom_rf2o"/> <!-- To use the odom_rf2o instead of odom for the move_base. Is it needed? -->
<param name="clearing_rotation_allowed" value="true" /> <!-- Our robot is able to rotate in place -->
<!-- Optimized local planner parameters -->
<param name="vx_samples" value="8.0" />
<param name="meter_scoring" value="true" />
<param name="sim_time" value="1.5" />
</node>
<include file="$(find laser2pc)/launch/laser2pc.launch"/>
</launch>
Asked by AlexandrosNic on 2021-05-06 07:22:09 UTC
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