Global path not changing despite newly discovered obstacle
Hi,
I'm using move_base to generate paths based on a map & odom generated by hector_mapping. The below rviz screenshot sums up my problem quite well: essentially as the new (middle) obstacle appeared in my LiDAR's view, the global path (in green) doesn't update. It seems properly inflated (blue).
So what happens is that move_base keeps going onto the global path until it arrives too close to the obstacle, and then it backs up (recovery mode).
Any ideas why my global path isn't changing?
My yamls:
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 1.0
static_map: false
rolling_window: true
width: 26
height: 26
resolution: 0.025
map_type: costmap
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 1.5
publish_frequency: 1.5
static_map: false
rolling_window: true
width: 20.0
height: 20.0
resolution: 0.05
map_type: costmap