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Navigation Issues between Kinetic and Noetic

asked 2022-03-19 05:18:35 -0500

MarkyMark2012 gravatar image

updated 2022-04-17 10:28:50 -0500

lucasw gravatar image

Hi,

Hopefully someone can shed some light on this. I've recently done a massive upgrade from Kinetic to Noetic (yes I know about time!) and the robot is now having problems/fussing when it comes to go through a doorway. Lots of cost clearing, recovery modes etc. Before it would just go straight through no issues (After I'd tuned the local and global cost map parameters etc).

The robot's hardware is identical as are all the YAML files with respective parameters for move_base/the navigation stack remain the same. So something has changes (which isn't surprising I know) which now makes it jitter around. As yet I can't see/figure out what.

I've put a log of the startup parameter here - so far as I can tell, given the parameters, the behavior should be the same:

https://www.dropbox.com/s/10997q4w7bz...

Any input would be great.

Many thanks

Mark

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answered 2022-03-19 06:47:25 -0500

Mike Scheutzow gravatar image

updated 2022-03-19 06:48:39 -0500

A small number of move_base parameter names were renamed in the move from kinetic to melodic, so your kinetic config files are likely not correct for noetic.

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Hi Mike thanks for that. Yes I'd already noticed this and updated them when I first ran the process (it was producing warnings).

MarkyMark2012 gravatar image MarkyMark2012  ( 2022-03-19 10:56:40 -0500 )edit

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Asked: 2022-03-19 05:18:35 -0500

Seen: 155 times

Last updated: Mar 19 '22