Move Base - SBPL - CarLike Ackermann

asked 2013-08-27 05:26:18 -0600

updated 2013-08-27 10:43:52 -0600

Hello,

I have robot with the mechanical motion working like a car. I am using the sbpl_lattice package (http://www.ros.org/wiki/sbpl_lattice_planner) + move_base + carlike_local_planner (https://bitbucket.org/alexbuyval/carlikemodel). [on ros fuerte]

I am facing some troubles,

  • there is other easy option to get a global planner and local navigation for this kind of robots?

main question:

when I re-size the footprint for my robot from: footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] to: footprint: [[0.90, -0.35], [0.90, 0.35], [-0.20, 0.35], [-0.20, -0.35]]

The system takes to long to start (more than 10 minutes). What could be the problem?

I am using a gridmap with 1 cm of resolution... with move base parameters #START VOXEL STUFF map_type: voxel map_topic: mapNav origin_z: 0.0 z_resolution: 0.2 z_voxels: 10 unknown_threshold: 9 mark_threshold: 0 #END VOXEL STUFF transform_tolerance: 0.3 obstacle_range: 2.5 max_obstacle_height: 2.0 raytrace_range: 3.0 footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] robot_radius: 0.46 footprint_padding: 0.01 inflation_radius: 0.55 cost_scaling_factor: 10.0 lethal_cost_threshold: 100 observation_sources: /S3000Scan /S3000Scan: {data_type: LaserScan, expected_update_rate: 1, observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}

thanks

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Comments

Which version of ROS?

David Lu gravatar imageDavid Lu ( 2013-08-27 08:28:23 -0600 )edit

Ros Fuerte

Filipe Santos gravatar imageFilipe Santos ( 2013-08-27 10:43:26 -0600 )edit

By time to start are you referring to just the time it takes for the planner to initialize? Also, how much time does it take the planer to start with [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.325, -0.325]] as the footprint?

Roy gravatar imageRoy ( 2013-08-28 04:41:42 -0600 )edit

Yes. Almost 40seconds.

Filipe Santos gravatar imageFilipe Santos ( 2013-08-29 01:00:59 -0600 )edit

Could you attach the output you receive from the planner for the 10 minute initialization case?

Roy gravatar imageRoy ( 2013-08-29 06:16:30 -0600 )edit

Hi Filipe, were you able to resolve your issue?

Roy gravatar imageRoy ( 2013-09-02 06:13:02 -0600 )edit