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obstacle avoidance with navigation stack

asked 2012-09-03 08:47:58 -0500

camilla gravatar image

Hi, I'm running the navigation stack and using rviz 2DNav to send goal to my robot but it don't avoid obstacles. I'm sure thta it detects them because they're displayed when I use the grid cells display with the obstacles and inflated obstacles topic. What could be the problem?

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I've noticed that, using 2DNav from rviz, the /goal topic published by rviz is subscribed by the proxy node and not by the move_base node, which is the one that published on /cmd_vel. Could this be an error?

camilla gravatar image camilla  ( 2012-09-05 05:24:00 -0500 )edit

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answered 2012-09-04 01:31:28 -0500

Procópio gravatar image

With move_base you can visualize local or global costmap.

If you are seeing the global one, it comes only from you map, not from your sensors. If you cannot see the local costmap obstacles, then your problem may be with the configurations of your yaml files. cheers

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I can see the local costmap obstacles, to do that i'm using two grid cell display setting each topic to /move_base/local_costmap/obstacles and /move_base/local_costmap/inflated_obstacles. But also if I can see the obstacles the robot doesn't avoid them. I can't figure why.

camilla gravatar image camilla  ( 2012-09-04 02:07:05 -0500 )edit

answered 2012-09-03 12:26:55 -0500

cagatay gravatar image

there may be several issues, can you give more details about your planner configurations. Are you completely sure that your robot has followed velocitiy references published by /cmd_vel

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After reading your post I tried to control that what the robot was doing and what was published on /cmd_vel were coherent but doing this check I've seen that if I use the comand "rostopic echo /cmd_vel" nothing appears to be published. this is really weird because the robot moves where I want it to.

camilla gravatar image camilla  ( 2012-09-04 00:20:09 -0500 )edit

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Asked: 2012-09-03 08:47:58 -0500

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Last updated: Sep 04 '12