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robot tends to move so close to my foot or some times climbs over

asked 2023-07-10 23:09:18 -0500

I am using move base flex, for my robot with trajectory planner loaded in it, the problem is when the robot sees an obstacle far away it could easily avoid it and if its to close the problem occurs, I have tried tuning lot of params using rqt_reconfigure still having the same issue..

Things I tried

  1. increased the foot print padding of the robot - didn't work
  2. increased the inflation layer for the local cost map - same (while doing this I could see something strange happening, like when I increase the foot print padding of the robot, the local inflation layer outer layer red it totally get lost and robots half easily goes through the inflation layer and get stuck)
  3. decreased the acceleration liner and thetha
  4. played with sim time values
  5. added social layer plugin to local cost map
  6. increased cost scaling factor

if anyone has any idea on how to avoid robot climbing or hitting my foot let me know...

Thanks in advance

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answered 2023-07-13 06:30:05 -0500

I used a other base_local_planer, teb_local_planner performed really well and it did not hit the obstacle, but the drawback is, it tends to move back, we can use weighting param to control it, but a robot which only has front view lidar moving back without looking is a risk, but no problem it does not hit any static obstacle.

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Asked: 2023-07-10 23:09:18 -0500

Seen: 33 times

Last updated: Jul 13 '23