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unable to get collvoid plugin planner for navigation stack to move the robot?

asked 2012-09-21 04:42:43 -0600

Roy89 gravatar image

updated 2012-09-21 04:47:09 -0600

Hello, I have been trying to get the multi robot collision avoidance package working with the navigation stack. I set up the launch files similar to the examples provided in the package and can display the costmaps, global and local plans made by the collvoid planner. When I send move_base a goal using rviz or a simple package I get a warning

[ WARN] [1348232889.899224274]: MSG to TF: Quaternion Not Properly Normalized.

I have checked the goals sent to it and they are normalized. The collvoid package doesn't correctly move the robot to the goal even though it's planned a global and local path to it. The robot just rotates from side to side and moves forward very slowly. When I use a different planner like navfn then I don't get this warning and the robot moves correctly along paths. Has anyone got this package working well with fuerte and the navigation stack?

image description

The blue line is the global plan and the purple line is the local plan. The goal was selected from publishing a selected goal from rviz on the move_base_simple/goal which already normalizes the quaternion for you.

<launch>
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="oscillation_timeout" value="30.0" />
    <param name="oscillation_distance" value="0.5" />
    <param name="base_global_planner" value="collvoid_simple_global_planner/CollvoidSimpleGlobalPlanner" />  
    <param name="base_local_planner" value="collvoid_local_planner/CollvoidLocalPlanner" />
    <rosparam file="$(find wambot5_2dnav)/CollvoidLocalPlanner_params.yaml" command="load" />
  </node>
</launch>

CollvoidLocalPlanner_params.yaml


controller_frequency: 10

CollvoidLocalPlanner:
  max_neighbors: 10
  neighbor_dist: 1.0
  time_horizon: 5.0
  time_horizon_obst: 5.0
  threshold_last_seen: 1.0

  scale_radius_factor: 2.0

  yaw_goal_tolerance: 3.0
  xy_goal_tolerance: 0.3
  latch_xy_goal_tolerance: false
  global_frame: /map
  wheel_base: 0.35
  time_to_holo: 0.4
  min_error_holo: 0.05
  max_error_holo: 0.10
  holo_robot: false
  delete_observations: false

  max_vel_x: 0.8
  max_vel_th: 0.1
  min_vel_x: 0.01
  min_vel_th: 0.1
  min_vel_theta_inplace: 0.05
  min_vel_y: 0.01
  max_vel_y: 0.1
  max_vel_with_obstacles: 0.2
  acc_lim_x: 1.0
  acc_lim_y: 0.0
  acc_lim_th: 0.5
  footprint_radius: 0.3
  inscribed_radius: 0.2

TrajectoryPlannerROS:
  max_vel_x: 0.50
  min_vel_x: 0.05
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.01
  acc_lim_th: 0.75
  acc_lim_x: 0.50
  acc_lim_y: 0.50
  holonomic_robot: false
  yaw_goal_tolerance: 3.0
  xy_goal_tolerance: 0.3
  goal_distance_bias: 0.8
  path_distance_bias: 1.0
  sim_time: 0.5
  heading_lookahead: 0.325
  oscillation_reset_dist: 0.05
  vx_samples: 6
  vtheta_samples: 20
  dwa: true

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 3.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

  #For this example we'll configure the costmap in voxel-grid mode
  map_type: voxel

  #Voxel grid specific parameters
  origin_z: 0.0
  z_resolution: 0.2
  z_voxels: 10
  unknown_threshold: 9
  mark_threshold: 0

  #Set the tolerance we're willing to have for tf transforms
  transform_tolerance: 0.8

  #Obstacle marking parameters
  obstacle_range: 2.5
  max_obstacle_height: 2.0
  raytrace_range: 3.0

  robot_radius: 0.35
  footprint: [[-0.279, -0.225], [-0.279, 0.225], [0.279, 0.225], [0.279, -0.225]]
  inflation_radius: 0.40
  footprint_padding: 0.01

  #Cost function parameters
  cost_scaling_factor: 10.0

  #The cost at which a cell is considered an obstacle when a ...
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Comments

Would you mind sharing the source code of collvoid package? Because the original address is fail(rosws merge https://kforge.ros.org/collvoid/collvoid/raw-file/tip/collvoid.rosinstall) and I cannot download it. Thank you

bbbExtremly gravatar imagebbbExtremly ( 2014-01-12 21:05:59 -0600 )edit

2 Answers

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answered 2012-10-14 07:08:32 -0600

Roy89 gravatar image

It's not supported for fuerte yet.

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answered 2013-07-30 05:15:52 -0600

ChrisEule gravatar image

Hello guys,

i'm using the collvoid stack too with navigation stack of fuerte (that version before release of navigation-1.9.1, https://github.com/ros-planning/navigation/releases) and got the same problem as described above. Does anybody know if that problem was fixed in fuerte since then and if the version I have chosen does support that?

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Asked: 2012-09-21 04:42:43 -0600

Seen: 518 times

Last updated: Jul 30 '13