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

asked 2023-01-12 14:48:29 -0500

MarkyMark2012
1834 ●94 ●110 ●138

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

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

Davies Ogunsina ( 2023-01-12 20:19:01 -0500 )edit

This is on a real robot

MarkyMark2012 ( 2023-01-13 14:26:21 -0500 )edit

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answered 2023-01-13 01:31:30 -0500

billy
1850 ●24 ●87 ●47

updated 2023-01-13 01:49:32 -0500

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?

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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

MarkyMark2012 ( 2023-01-13 14:18:48 -0500 )edit

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

billy ( 2023-01-13 17:14:58 -0500 )edit

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

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MarkyMark2012 ( 2023-01-14 06:37:51 -0500 )edit

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

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