mohsen1989m's profile - activity

Hello guys,

I am trying to run my robot with navigation stack. It is a four track differential robot as it is shown in the picture below. I am using gmapping instead of amcl so I will discover and update the map as I go along.

The problem is my robot does not avoid obstacles. As can be seen in these two videos (video 1, video 2) although the obstacle is observed by the laser, local planner is not changing the directory in a way to go around it and instead simply drives through it. The obstacle is not part of the map and i set it up in a way that it appears to the rover when it rotates to reach the way point. In other words my global planner seems to be working fine, since it does not know about the obstacle.

here is my yaml files:

cost_map common parameters

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.5, -0.45], [-0.5, -0.45], [-0.5, 0.45], [0.5, 0.45], [0.6, 0.0]]
#robot_radius: ir_of_robot
inflation_radius: 0.55
obstacles:
 observation_sources: laser_scan_sensor point_cloud_sensor
 laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
 point_cloud_sensor: {sensor_frame: base_laser, data_type: PointCloud, topic: /my_cloud, marking: true, clearing: true}

local_costmap_params

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
  map_type: costmap

global_costmap_params

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 3
  static_map: true

base_local_planner_params

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_vel_theta: 1
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5


  holonomic_robot: false

  meter_scoring: true

any idea how to address the problem?

Thank you very much in advance

Edit: Here is my launch files:

My first launch file which launches the laser scanner, my joystick node, my tf_setup node, point cloud creator out of laser scanner (This one i put to perhaps solve the problem and it didn't make any changes), and my odometry. (For some technical reasons I can communicate with the robot only in one node, so setting up the speeds from cmd_vel and also providing the odometry information are being done in rover_odom node) rovmap.launch

<launch>
  <arg name="host" default="192.168.0.1" />
  <master auto="start"/>
  <node pkg="lms1xx" name="lms1xx" type="LMS1xx_node" output="screen">
  <param name="host" value="$(arg host)" />
  </node>
  <node pkg="joy" name="joy_node" type="joy_node" output="screen">
  </node>
  <node pkg="robot_setup_tf" name="tf_broadcaster" type="tf_broadcaster" output="screen">
  </node>
  <node pkg="donkey_rover" name="rover_odom" type="rover_odom" output="screen">
  </node>

  <!-- point cloud creator-->
  <node pkg="laserscan_to_pointcloud" name="scanToPoint" type="scanToPoint" output="screen">
  </node>
</launch>

My second launch file which simply launches gmapping node gmap.launch

 <launch> 
   <node pkg="gmapping" name="slam_gmapping" type="slam_gmapping" args="scan:=scan" respawn="true" output="screen">
  </node>
</launch>

and finally my move_base.launch, note that amcl is commented since I am using gmapping. Although I tested also with amcl instead of gmapping and it was the same, not avoiding obstacles ... (more)