Dear Community,

for a series of experiments our robot needs to fulfill a short parcour in a gazebo simulation. To reach the second goal, the navigation sends it on a, for gazebo, not viable path and the robot gets stuck. In rviz however, the robot manages to move behind the obstacle and reach the second goal. Afterwards the representations of the environment caught by the sensors are disjunct.

For an easier understanding, here's a recording of the experiment(issue arising at 0:30):

https://drive.google.com/file/d/1ArQKHbYKyDwEe6Wc0ctYzjC6g6wimWf7/view?usp=sharing

Why does this occur?

I'm new to rosanswers, so there will probably miss quite some information to solve this problem. Please just tell me and I will eagerly provide you with the missing details.

Thank you for your help!

Technical details:

We use ros-kinetic on Ubuntu 16.04. The simulation is run in this docker container.

Gazebo: Version 7.0.0

Rviz: Version 1.12.17

Published topics:

/bisceeheadrelative_position

/bisceeultracloudfrontbottom

/bisceeultracloudfronttop

/bisceeultracloudleft45

/bisceeultracloudleft90

/bisceeultracloudright45

/bisceeultracloudright90

/clicked_point

/clock

/continousContact

/diagnostics

/gazebo/link_states

/gazebo/model_states

/gazebo/parameter_descriptions

/gazebo/parameter_updates

/gazebo/setlinkstate

/gazebo/setmodelstate

/gazebogui/parameterdescriptions

/gazebogui/parameterupdates

/goSignal

/numberContacts

/rb1_base

/rb1base/amcl/parameterdescriptions

/rb1base/amcl/parameterupdates

/rb1base/amclpose

/rb1base/biscee/cmdvel

/rb1_base/bumper

/rb1base/cmdvel

/rb1base/docker/cmdvel

/rb1base/frontlaser/scan

/rb1base/frontrgbdcamera/depth/camerainfo

/rb1base/frontrgbdcamera/depth/imageraw

/rb1base/frontrgbd_camera/depth/points

/rb1base/frontrgbdcamera/parameterdescriptions

/rb1base/frontrgbdcamera/parameterupdates

/rb1base/frontrgbdcamera/rgb/camerainfo

/rb1base/frontrgbdcamera/rgb/imageraw

/rb1base/frontrgbdcamera/rgb/imageraw/compressed

/rb1base/frontrgbdcamera/rgb/imageraw/compressed/parameter_descriptions

/rb1base/frontrgbdcamera/rgb/imageraw/compressed/parameter_updates

/rb1base/frontrgbdcamera/rgb/imageraw/compressedDepth

/rb1base/frontrgbdcamera/rgb/imageraw/compressedDepth/parameter_descriptions

/rb1base/frontrgbdcamera/rgb/imageraw/compressedDepth/parameter_updates

/rb1base/frontrgbdcamera/rgb/imageraw/theora

/rb1base/frontrgbdcamera/rgb/imageraw/theora/parameter_descriptions

/rb1base/frontrgbdcamera/rgb/imageraw/theora/parameter_updates

/rb1_base/imu/data

/rb1base/imu/data/accel/parameterdescriptions

/rb1base/imu/data/accel/parameterupdates

/rb1_base/imu/data/bias

/rb1base/imu/data/rate/parameterdescriptions

/rb1base/imu/data/rate/parameterupdates

/rb1base/imu/data/yaw/parameterdescriptions

/rb1base/imu/data/yaw/parameterupdates

/rb1_base/imu/rpy/filtered

/rb1_base/initialpose

/rb1base/jointstates

/rb1_base/joy

/rb1base/joy/setfeedback

/rb1_base/map

/rb1base/mapmetadata

/rb1base/mapupdates

/rb1base/mavros/imu/dataraw

/rb1base/movebase/NavfnROS/plan

/rb1base/movebase/TebLocalPlannerROS/costmapconverter/CostmapToPolygonsDBSMCCH/parameterdescriptions

/rb1base/movebase/TebLocalPlannerROS/costmapconverter/CostmapToPolygonsDBSMCCH/parameterupdates

/rb1base/movebase/TebLocalPlannerROS/global_plan

/rb1base/movebase/TebLocalPlannerROS/local_plan

/rb1base/movebase/TebLocalPlannerROS/obstacles

/rb1base/movebase/TebLocalPlannerROS/parameter_descriptions

/rb1base/movebase/TebLocalPlannerROS/parameter_updates

/rb1base/movebase/TebLocalPlannerROS/teb_feedback

/rb1base/movebase/TebLocalPlannerROS/teb_markers

/rb1base/movebase/TebLocalPlannerROS/teb_poses

/rb1base/movebase/TebLocalPlannerROS/via_points

/rb1base/movebase/cancel

/rb1base/movebase/cmd_vel

/rb1base/movebase/current_goal

/rb1base/movebase/feedback

/rb1base/movebase/global_costmap/costmap

/rb1base/movebase/globalcostmap/costmapprohibitionlayer/parameterdescriptions

/rb1base/movebase/globalcostmap/costmapprohibitionlayer/parameterupdates

/rb1base/movebase/globalcostmap/costmapupdates

/rb1base/movebase/global_costmap/footprint

/rb1base/movebase/globalcostmap/inflationlayer/parameter_descriptions

/rb1base/movebase/globalcostmap/inflationlayer/parameter_updates

/rb1base/movebase/globalcostmap/obstacles/clearingendpoints

/rb1base/movebase/globalcostmap/obstacles/parameterdescriptions

/rb1base/movebase/globalcostmap/obstacles/parameterupdates

/rb1base/movebase/globalcostmap/parameterdescriptions

/rb1base/movebase/globalcostmap/parameterupdates

/rb1base/movebase/globalcostmap/staticmap/parameter_descriptions

/rb1base/movebase/globalcostmap/staticmap/parameter_updates

/rb1base/movebase/goal

/rb1base/movebase/local_costmap/costmap

/rb1base/movebase/localcostmap/costmapupdates

/rb1base/movebase/local_costmap/footprint

/rb1base/movebase/localcostmap/inflationlayer/parameter_descriptions

/rb1base/movebase/localcostmap/inflationlayer/parameter_updates

/rb1base/movebase/localcostmap/obstaclelayer/parameter_descriptions

/rb1base/movebase/localcostmap/obstaclelayer/parameter_updates

/rb1base/movebase/localcostmap/parameterdescriptions

/rb1base/movebase/localcostmap/parameterupdates

/rb1base/movebase/parameter_descriptions

/rb1base/movebase/parameter_updates

/rb1base/movebase/recovery_status

/rb1base/movebase/result

/rb1base/movebase/status

/rb1base/movebase_simple/goal

/rb1base/padteleop/cmd_vel

/rb1_base/particlecloud

/rb1base/robotnikbasecontrol/cmdvel

/rb1base/robotnikbase_control/odom

/rb1base/robotnikbasecontrol/parameterdescriptions

/rb1base/robotnikbasecontrol/parameterupdates

/rb1base/robotnikbasehw/emergencystop

/rosout

/rosout_agg

/terminate

/tf

/tf_static

/ultra0

/ultra1

/ultra2

/ultrasounddistancefront_bottom

/ultrasounddistancefront_bottomhigh

/ultrasounddistancefront_bottomlow

/ultrasounddistancefront_top

/ultrasounddistanceleft_45

/ultrasounddistanceleft_90

/ultrasounddistanceright_45

/ultrasounddistanceright_90