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local_planner seeing invisible wall

asked 2023-05-04 09:18:58 -0500

Grunthorin gravatar image

updated 2023-05-31 07:44:20 -0500

image description

As seen in the image, the robot is detecting a curved wall in front of it and is stopping the route. However there isn't any wall in that position, just the ones on the sides, as seen on the map. What could it be?

image description

Again, there is nothing in front of the robot, but it is seeing a wall

I'm also receiving these warnings:

[WARN] [1683209662.283217847]: Map update loop missed its desired rat e of 5.0000Hz... the loop actually took 0.2276 seconds.     
[WARN] [1683209662.457042787]: Control loop missed its desired rate o f 5.0000Hz... the loop actually took 0.2017 seconds.

I don't know if it has something to do with it, as I have been receiving this warnings way before this problem.

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Please do not post screenshots of text. Instead, copy/paste the text into the description and format it with the 101010 button.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2023-05-04 13:11:40 -0500 )edit

Thanks for the headsup! It's fixed now.

Grunthorin gravatar image Grunthorin  ( 2023-05-04 13:55:01 -0500 )edit

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answered 2023-05-31 07:44:04 -0500

Grunthorin gravatar image

We found out that the prohibition areas plugin were consuming too much of our robot, removing them stopped that problem. (Prohibition areas made our Raspberry CPU go to 100%, while without it it wont go past 25%..). Probably sometimes it would freeze and not compute its odometry correctly, therefore thinking that it was seeing a wall when it wasn't.

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answered 2023-05-04 13:34:54 -0500

Mike Scheutzow gravatar image

This symptom can happen when the robot's current pose is inaccurate (it's usually the odometry.) If the current map->sensor pose is inaccurate, then any transformation of the sensor data into the map frame is also inaccurate.

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But it happen out of nowhere, it is working normally and all of sudden it just puts the wall there. Is it still an odometry problem?

Grunthorin gravatar image Grunthorin  ( 2023-05-04 13:55:53 -0500 )edit

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Asked: 2023-05-04 09:18:58 -0500

Seen: 69 times

Last updated: May 31 '23