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make_plan going to bizzarre locations in path.

asked 2011-04-30 14:09:28 -0500

BlackManta gravatar image

updated 2012-07-02 13:54:34 -0500

mjcarroll gravatar image

I have stage running with gmapping and move_base. I am using a 1 meter resolution on the map, and I invoke the make_plan service from move stage and it gives me bizzare locations.

For example I use: '{ start: {header: {stamp: now, frame_id: base_link}, pose:{position: [0.0,0.0,0.0], orientation: [0.0,0.0,0.0,0.0]}}, goal: {header: {stamp: now, frame_id: base_link}, pose:{position: [5.0,5.0,0.0], orientation: [0.0,0.0,0.0,0.0]}},tolerance: 20}'

and the resulting path gave me a position at 12, -6.

I have tried this with and without amcl. The only error I get is from move_base which says:

[ WARN] [1304214340.248802176, 1776.700000000]: The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal.

But the point should not be off the costmap it is 192 X 192.

Any suggestions, I would rather use move_base than write my own A* algorithm on the costmap but I am running out of options.

Thanks in advance, ~BM

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answered 2011-05-01 20:14:34 -0500

raphael favier gravatar image

Hello,

Are you sure you are using a static map as global costmap? Could you post your config files for move_base as well as the yaml file for your map? Seems to me that your origin it somehow different than the left bottom corner.

Raph

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answered 2011-05-14 07:56:29 -0500

BlackManta gravatar image

Thanks I got it working, I realized the mapper can't plan in unexplored areas. Also reducing the _delta on gmapping helps A LOT!

Thanks

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there is a parameter to allow the planner to go in unknown areas. Check this question: http://answers.ros.org/question/423/how-to-set-unknown-pixel-as-goal-in-move_base
raphael favier gravatar image raphael favier  ( 2011-05-16 01:00:47 -0500 )edit

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Asked: 2011-04-30 14:09:28 -0500

Seen: 616 times

Last updated: May 14 '11