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Robot Thinks It's Stuck When It Isn't


I've got an annoying problem here. I've trying to get the robot to un-dock from the charging station, navigate then come back.

In the screen-shot below you can see that there is free space round the robot, but in the planning output it wants to start recover procedures when there is no need. All it needs to do it reverse out (I've already set min_vel_x: -1.0 to achieve this). Still no luck. What else can I try tuning? I can't see anything else in dwa_local_planner_params.yaml, costmap_common_params.yaml, local_costmap_params.yaml or global_costmap_params.yaml which looks immediately obvious.

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