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Robot can not avoid obstacle in navigation stack

Hi, I am using ros-indigo on ubuntu 12.04 LTS. I am trying to use navigation stack, but I have some problem. My robot can move "Initial Pose" to "goal", But can't avoid obstacles. Whether the obstacle require plugins (costmap_2d::StaticLayer) to be inserted in configuration file. Please can one suggest me asap. Thank's in advanced.

My configuration files are as following:

1) common_costmap_params.yaml

obstacle_range: 2.5 raytrace_range: 3.0

footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, 0.20]]

footprint_padding : 0.03 inflation_radius: 0.30 cost_scaling_factor: 1 map_type: costmap

max_obstacle_height: 1.0 min_obstacle_height: 0.65

transform_tolerance: 10.0

obstacle_layer: observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true, observation_persistence: 0.0, expected_update_rate: 0.0, max_obstacle_height: 1.0, min_obstacle_height: 0.65, obstacle_range: 2.5, raytrace_range: 3.0, inf_is_valid: false}

2) global_costmap_params.yaml

global_costmap: global_frame: /map robot_base_frame: /base_link update_frequency: 3.0 #20 3 publish_frequency: 2.0 #20 2 static_map: true

rolling_window : true

width: 10.0 height: 10.0

resolution: 0.1

3) local_costmap_params.yaml

local_costmap: global_frame: /map robot_base_frame: /base_link update_frequency: 8.0 #10 publish_frequency: 6.0 #10 static_map: false rolling_window: true

width: 4 #10.0 height: 4 #10.0 resolution: 0.01 #0.05

4) dwa_local_planner.yaml

DWAPlannerROS: max_vel_x: 0.1099
min_vel_x: -0.1099

max_vel_y: 0.0
min_vel_y: 0.0

acc_lim_th: 0.01099
acc_lim_x: 0.07999 acc_lim_y: 0.0 #0.0

max_trans_vel: 0.0999
min_trans_vel: 0.0199

max_rot_vel: 0.05099
min_rot_vel: 0.01999
rot_stopped_vel: 0.02

sim_time: 1.7
vx_samples: 10
vy_samples: 1
vtheta_samples: 40

forward_point_distance: 0.0 # this value is being used as a cost value for robot alignment to the path holonomic_robot: false

meter_scoring: true

dwa: true

yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.3
latch_xy_goal_tolerance: true

publish_cost_grid: true

path_distance_bias: 32.0 goal_distance_bias: 24.0 occdist_scale: 0.1
stop_time_buffer: 2.0 oscillation_reset_dist: 0.1
prune_plan: false

5) move_base_params.yaml

shutdown_costmaps: false

controller_frequency: 1.0 controller_patience: 1.0

planner_frequency: 1.0 planner_patience: 1.0

conservative_reset_dist: 0.2 #distance from an obstacle at which it will unstuck itself

Robot can not avoid obstacle in navigation stack

Hi, I am using ros-indigo on ubuntu 12.04 LTS. I am trying to use navigation stack, but I have some problem. My robot can move "Initial Pose" to "goal", But can't avoid obstacles. Whether the obstacle require plugins (costmap_2d::StaticLayer) to be inserted in configuration file. Please can one suggest me asap. Thank's in advanced.

My configuration files are as following:

1) common_costmap_params.yaml

obstacle_range: 2.5 raytrace_range: 3.0

footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, 0.20]]

footprint_padding : 0.03 inflation_radius: 0.30 cost_scaling_factor: 1 map_type: costmap

max_obstacle_height: 1.0 min_obstacle_height: 0.65

transform_tolerance: 10.0

obstacle_layer: observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true, observation_persistence: 0.0, expected_update_rate: 0.0, max_obstacle_height: 1.0, min_obstacle_height: 0.65, obstacle_range: 2.5, raytrace_range: 3.0, inf_is_valid: false}

2) global_costmap_params.yaml

global_costmap: global_frame: /map robot_base_frame: /base_link update_frequency: 3.0 #20 3 publish_frequency: 2.0 #20 2 static_map: true

rolling_window : true

width: 10.0 height: 10.0

resolution: 0.1

3) local_costmap_params.yaml

local_costmap: global_frame: /map robot_base_frame: /base_link update_frequency: 8.0 #10 publish_frequency: 6.0 #10 static_map: false rolling_window: true

width: 4 #10.0 height: 4 #10.0 resolution: 0.01 #0.05

4) dwa_local_planner.yaml

DWAPlannerROS: max_vel_x: 0.1099
min_vel_x: -0.1099

max_vel_y: 0.0
min_vel_y: 0.0

acc_lim_th: 0.01099
acc_lim_x: 0.07999 acc_lim_y: 0.0 #0.0

max_trans_vel: 0.0999
min_trans_vel: 0.0199

max_rot_vel: 0.05099
min_rot_vel: 0.01999
rot_stopped_vel: 0.02

sim_time: 1.7
vx_samples: 10
vy_samples: 1
vtheta_samples: 40

forward_point_distance: 0.0 # this value is being used as a cost value for robot alignment to the path holonomic_robot: false

meter_scoring: true

dwa: true

yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.3
latch_xy_goal_tolerance: true

publish_cost_grid: true

path_distance_bias: 32.0 goal_distance_bias: 24.0 occdist_scale: 0.1
stop_time_buffer: 2.0 oscillation_reset_dist: 0.1
prune_plan: false

5) move_base_params.yaml

shutdown_costmaps: false

controller_frequency: 1.0 controller_patience: 1.0

planner_frequency: 1.0 planner_patience: 1.0

conservative_reset_dist: 0.2 #distance from an obstacle at which it will unstuck itself

Robot can not avoid obstacle in navigation stack

Hi, I am using ros-indigo on ubuntu 12.04 LTS. I am trying to use navigation stack, but I have some problem. My robot can move "Initial Pose" to "goal", But can't avoid obstacles. Whether the obstacle require plugins (costmap_2d::StaticLayer) to be inserted in configuration file. Please can one suggest me asap. Thank's in advanced.

My configuration files are as following:

1) common_costmap_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0

3.0 footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, 0.20]]

0.20]] footprint_padding : 0.03 inflation_radius: 0.30 cost_scaling_factor: 1 map_type: costmap

costmap max_obstacle_height: 1.0 min_obstacle_height: 0.65

0.65 transform_tolerance: 10.0

obstacle_layer: observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true, observation_persistence: 0.0, expected_update_rate: 0.0, max_obstacle_height: 1.0, min_obstacle_height: 0.65, obstacle_range: 2.5, raytrace_range: 3.0, inf_is_valid: false}

false}

2) global_costmap_params.yaml

global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 3.0 #20 3
publish_frequency: 2.0 #20 2
static_map: true

true rolling_window : true

true width: 10.0 height: 10.0

10.0 resolution: 0.1

0.1

3) local_costmap_params.yaml

local_costmap:
  global_frame: /map 
  robot_base_frame: /base_link
  update_frequency: 8.0 #10
  publish_frequency: 6.0 #10
  static_map: false
  rolling_window: true

true width: 4 #10.0 height: 4 #10.0 resolution: 0.01 #0.05

#0.05

4) dwa_local_planner.yaml

DWAPlannerROS:
  max_vel_x: 0.1099 
min_vel_x: -0.1099

max_vel_y: 0.0
min_vel_y: 0.0

0.0 acc_lim_th: 0.01099
acc_lim_x: 0.07999 acc_lim_y: 0.0 #0.0

#0.0 max_trans_vel: 0.0999
min_trans_vel: 0.0199

max_rot_vel: 0.05099
min_rot_vel: 0.01999
rot_stopped_vel: 0.02

0.02 sim_time: 1.7
vx_samples: 10
vy_samples: 1
vtheta_samples: 40

forward_point_distance: 0.0 # this value is being used as a cost value for robot alignment to the path holonomic_robot: false

meter_scoring: true

true dwa: true

true yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.3
latch_xy_goal_tolerance: true

true publish_cost_grid: true

true path_distance_bias: 32.0 goal_distance_bias: 24.0 occdist_scale: 0.1
stop_time_buffer: 2.0 oscillation_reset_dist: 0.1
prune_plan: false

false

5) move_base_params.yaml

shutdown_costmaps: false

false controller_frequency: 1.0 controller_patience: 1.0

1.0 planner_frequency: 1.0 planner_patience: 1.0

1.0 conservative_reset_dist: 0.2 #distance from an obstacle at which it will unstuck itself

itself

Robot can not avoid obstacle in navigation stack

Hi, I am using ros-indigo on ubuntu 12.04 14.04 LTS. I am trying to use navigation stack, but I have some problem. My robot can move "Initial Pose" to "goal", But can't avoid obstacles. Whether the obstacle require plugins (costmap_2d::StaticLayer) to be inserted in configuration file. Please can one suggest me asap. Thank's in advanced.

My configuration files are as following:

1) common_costmap_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0

footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, 0.20]]

footprint_padding : 0.03
inflation_radius: 0.30 
cost_scaling_factor: 1
map_type: costmap

max_obstacle_height: 1.0
min_obstacle_height: 0.65

transform_tolerance:  10.0 

obstacle_layer:
    observation_sources: laser_scan_sensor
    laser_scan_sensor: {sensor_frame: sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true, observation_persistence: 0.0, expected_update_rate: 0.0, max_obstacle_height: 1.0, min_obstacle_height: 0.65, obstacle_range: 2.5, raytrace_range: 3.0, inf_is_valid: false}

2) global_costmap_params.yaml

global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 3.0 #20 3
publish_frequency: 2.0 #20 2
static_map: true

rolling_window : true

width: 10.0
height: 10.0

resolution: 0.1

3) local_costmap_params.yaml

local_costmap:
  global_frame: /map 
  robot_base_frame: /base_link
  update_frequency: 8.0 #10
  publish_frequency: 6.0 #10
  static_map: false
  rolling_window: true

  width: 4 #10.0 
  height: 4 #10.0
  resolution: 0.01 #0.05

4) dwa_local_planner.yaml

DWAPlannerROS:
  max_vel_x: 0.1099    
  min_vel_x: -0.1099    

  max_vel_y: 0.0      
  min_vel_y: 0.0

  acc_lim_th: 0.01099    
  acc_lim_x: 0.07999
  acc_lim_y: 0.0 #0.0

  max_trans_vel: 0.0999     
  min_trans_vel: 0.0199     

  max_rot_vel: 0.05099       
  min_rot_vel: 0.01999    
  rot_stopped_vel: 0.02

  sim_time:   1.7           
  vx_samples: 10    
  vy_samples: 1            
  vtheta_samples: 40 

  forward_point_distance: 0.0 # this value is being used as a cost value for robot alignment to the path
  holonomic_robot: false   

  meter_scoring: true

  dwa: true

  yaw_goal_tolerance: 0.1    
  xy_goal_tolerance: 0.3   
  latch_xy_goal_tolerance: true

  publish_cost_grid: true

  path_distance_bias:   32.0 
  goal_distance_bias:  24.0 
  occdist_scale:  0.1  
  stop_time_buffer: 2.0 
  oscillation_reset_dist: 0.1  
  prune_plan: false

5) move_base_params.yaml

shutdown_costmaps: false

controller_frequency: 1.0 
controller_patience: 1.0

planner_frequency: 1.0
planner_patience: 1.0

conservative_reset_dist: 0.2 #distance from an obstacle at which it will unstuck itself