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From my understanding, if we set a navigation goal in inflated obstacles, the navigation stack won't give a path plan. So, how can I configure the stack to let the it give a path plan, which navigate the robot to a position near the goal?
The navigation stack will not plan a path to a goal given in an inflated obstacle because a cell marked as such guarantees that any concave robot footprint would be in collision if the center-point of that footprint were placed at that cell. Basically, if the navigation stack were to attempt to achieve such a goal, it would hit something.
If you want the navigation stack to get as close to this goal as possible, you might want to check out the "default_tolerance" parameter that can be set on navfn documented here: http://www.ros.org/wiki/navfn#Parameters. Setting that parameter should allow you to specify goals inside of inflated obstacles where the robot will try to get close.
However seems this value is not used where it's supposed to use.
bool GlobalPlanner::makePlan(const PoseStamped& start, const PoseStamped& goal, double tolerance, std::vector<posestamped>& plan)
Furthermore it is reported but not resolved yet.
In my rviz, both of the fixed frame and target frame are '/map'. Following is my common costmap configuration:
map_type: costmap
transform_tolerance: 0.2
obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 0.55
footprint: [[0.13, 0.35],
[0.25, 0.15],
[0.25, -0.15],
[0.13, -0.35],
[-0.13, -0.35],
[-0.25, -0.15],
[-0.25, 0.15],
[-0.13, 0.35]]
observation_sources: base_scan
base_scan: {data_type: LaserScan,
topic: /base_scan,
expected_update_rate: 0.4,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: 0.08,
max_obstacle_height: 2.0}
global_costmap:
global_costmap:
publish_voxel_map: true
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 0.0
static_map: true
rolling_window: false
local_costmap:
local_costmap:
publish_voxel_map: true
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.025
origin_x: 0.0
origin_y: 0.0
Yes, I have tried it by using navigation stage. When I set a goal in the inflated obstacles, the navigation stack didn't give a plan, and the robot began to rotate. After that, the stack threw an error.
[ERROR] [1303565646.145455982, 30.900000000]: Aborting because a valid plan could
not be found. Even after executing all recovery behaviorsAsked: 2011-04-22 21:10:29 -0600
Seen: 1,606 times
Last updated: Apr 25 '11
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