hi everyone,

my problem is about object detection and collision avoidance. when the robot starts moving toward the goal, it cannot identify the objects in Infront of it and hit them. I have defined the inflationlayer, obstacleheight, and footprint of the robot in cost-common-params. we are using 'navfn/NavfnROS' as globalplanner and 'dwalocalplanner/DWAPlannerROS' as localplanner. I have attached the related move-base params. I am using rtabmap in mapping mode (SLAM) and i have activated rolling-window as well. so I would be grateful if anybody can help?! thanks

##costmap-common-params:

max_obstacle_height: 2.2  
footprint: [[-0.76, -0.69], [-0.76, 0.69], [0.76, 0.69], [0.76, -0.69]] 

footprint_padding: 0.55
map_type: voxel

voxel_layer:
  enabled:              true
  max_obstacle_height:  2.2
  origin_z:             0.0
  z_resolution:         0.5
  z_voxels:             22
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  true    
  obstacle_range: 5.0
  raytrace_range: 3.0
  publish_voxel_map: true

  observation_sources: point_cloud_sensor 
  point_cloud_sensor:
    data_type: PointCloud2
    topic: /velodyne_points
    marking: true
    clearing: true
    min_obstacle_height: 0.0
    max_obstacle_height: 2.0

inflation_layer:
  enabled:              true
  cost_scaling_factor:  1.58  
  inflation_radius:     0.9
...............................................................

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#Move_base
    <launch>
      <arg name="odom_frame_id"   default="icp_odom"/>
      <arg name="base_frame_id"   default="base_link"/>
      <arg name="global_frame_id" default="map"/>
      <arg name="odom_topic" default="/rtabmap/odom" />            

      <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/costmap_common_params.yaml" command="load" ns="local_costmap" />   
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/local_costmap_params.yaml" command="load" /> 
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/move_base_params.yaml" command="load" />

        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/navfn_global_planner_params.yaml" command="load" />
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/dwa_local_planner_params.yaml" command="load" />

        <!-- reset frame_id parameters using user input data -->
        <param name="global_costmap/global_frame" value="$(arg global_frame_id)" />
        <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)" />
        <param name="local_costmap/global_frame" value="$(arg odom_frame_id)" />
        <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)" />
        <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)" />

        <param name="base_global_planner" value="navfn/NavfnROS" />
        <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />

        <param name="controller_frequency" value="8.0" />
        <param name="controller_patience" value="2.0" />
        <remap from="odom" to="$(arg odom_topic)" />
      </node>
    </launch>



#move-base_params:
#
shutdown_costmaps: false

controller_frequency: 8.0
controller_patience: 2.0

planner_frequency: 5.0 
planner_patience: 1.0   

oscillation_timeout: 10.0
oscillation_distance: 0.2

# local planner - default is trajectory rollout
base_local_planner: "dwa_local_planner/DWAPlannerROS"

base_global_planner: "navfn/NavfnROS" #alternatives:global_planner/GlobalPlanner, carrot_planner/CarrotPlanner

recovery_behavior_enabled: true

recovery_behaviors:
  - name:'super_conservative_reset1'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'conservative_reset1'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'aggressive_reset1'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'clearing_rotation1'
    type:'rotate_recovery/RotateRecovery'
  - name:'super_conservative_reset2'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'conservative_reset2'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'aggressive_reset2'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'clearing_rotation2'
    type:'rotate_recovery/RotateRecovery'

super_conservative_reset1:
  reset_distance:3.0
conservative_reset1:
  reset_distance:1.5
aggressive_reset1:
  reset_distance:0.0
super_conservative_reset2:
  reset_distance:3.0
conservative_reset2:
  reset_distance:1.5
aggressive_reset2:
  reset_distance:0.0

#local-costmap
local_costmap:
   global_frame: icp_odom
   robot_base_frame: base_link
   update_frequency: 1.0     
   publish_frequency: 2.0     
   static_map: false
   rolling_window: true
   width: 5.0
   height: 5.0
   resolution: 0.05
   origin_x: 5.0
   origin_y: 0
   transform_tolerance: 2.0
   plugins:
    - {name: obstacles_layer,         type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}

#global-costmap
global_costmap:
   global_frame: odom
   robot_base_frame: base_link
   update_frequency: 1.0      
   publish_frequency: 0.5    
   static_map: true
   rolling_window: true
   width: 40
   height: 40
   transform_tolerance: 2.0
   plugins:
     - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}
     - {name: voxel_layer,             type: "costmap_2d::VoxelLayer"}


#DWAPlannerROS:
# Robot Configuration Parameters
  max_vel_x: 0.5 
  min_vel_x: 0.0    
  max_vel_y: 0.0
  min_vel_y: 0.0

  # The velocity when robot is moving in a straight line
  max_trans_vel:  1.0   
  min_trans_vel:  0.1    
  trans_stopped_vel: 0.1

  max_rot_vel: 0.2    
  min_rot_vel: 0.0    
  rot_stopped_vel: 0.8

  acc_lim_x: 1.5     
  acc_lim_theta: 3.2   
  acc_lim_y: 0.0

# Goal Tolerance Parametes
  yaw_goal_tolerance: 0.3   
  xy_goal_tolerance: 0.35  
  latch_xy_goal_tolerance: false   

# Forward Simulation Parameters
  sim_time: 1.5    #The amount of time to forward-simulate trajectories in seconds
  vx_samples: 20
  vy_samples: 1    # diff drive robot, there is only one sample
  vtheta_samples: 40

# Trajectory Scoring Parameters
  path_distance_bias: 64.0      
  goal_distance_bias: 24.0  
  occdist_scale: 0.2  
  forward_point_distance: 0.0
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05
# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
  global_frame_id: odom
 #sim_granularity:0.025