Possible to get ROS/Turtlebot to navigate through a doorway?

Hi,

A seemingly obvious question - but regardless of what inflation parameters, cost scaling factors, robot sizing, clearing parameters etc I used the navigation is quite simply awful. Spinning around, going thought a doorway jittering and stuttering, forward and backwards. My robot vacuum can manage it so this should be able to. RVIZ isn't showing anything helpful.

If anyone has any useful hints I would very much appreciate them.

Thanks

Mark

Asked by MarkyMark2012 on 2023-01-12 15:48:29 UTC

Comments

try set sim_time parameter in your DWA planner to less than 2.0 , maybe 1.5

Asked by Davies Ogunsina on 2023-01-12 21:19:01 UTC

This is on a real robot

Asked by MarkyMark2012 on 2023-01-13 15:26:21 UTC

Answers

To past those issues, what worked for me was of course play with all the things you mention, then to actually fix it, I reduced the foot-print of robot in the YAML file a few inches. Yes, I lied to ROS to get it to relax. I'd do it again!! YMMV. - I just reread your post and you say you already tried resizing the robot. Did you make it smaller?

Asked by billy on 2023-01-13 02:31:30 UTC

Comments

Hi,

Yep I've tried that - I'll have another go. What frustrating is that it all worked really well in Kinetic then upgrading to Melodic - Boom. Same parameters, change the parameters - nothing seems to work atm

Asked by MarkyMark2012 on 2023-01-13 15:18:48 UTC

Maybe post a video of RVIZ to youtube and provide a link so others can see what it's doing?

Asked by billy on 2023-01-13 18:14:58 UTC

okay will do later this w/e. At the moment I have the radius of the robot set to 10cm when it should really be 16 (it's basically a TurtleBot 2)

Currently constantly getting:

Clearing both costmaps to unstuck robot and Rotate recovery behavior started

Messages

Asked by MarkyMark2012 on 2023-01-14 07:37:51 UTC