JamesDoe's profile - activity

@automate Could you show the final version of your parameters? Having the same issue.

URDF problems Hey everyone, I'm having some issues with my robot URDF. Specifically with the kinect. Everything I do for

Alright. I see what you mean now. Sorry, really not used to reading Python code. It looks like you don't actually need a

I don't usually use Python, but in C++ we have an imwrite function in openCV. I just googled it and it seems to be there

I don't usually use Python, but in C++ we have an imwrite function in openCV. I just googled it and it seems to be there

Or at the very least, define it somewhere else than in your callback.

Alright. I see what you mean now. Sorry, really not used to reading Python code. It looks like you don't actually need a

I don't usually use Python, but in C++ we have an imwrite function in openCV. I just googled it and it seems to be there

Check answer again (couldn't write code in comment properly)

I don't usually use Python, but in C++ we have an imwrite function in openCV. I just googled it and it seems to be there

I don't usually use Python, but in C++ we have an imwrite function in openCV. I just googled it and it seems to be there

In case you are looking for answer #1, it's simple. When running roscore and gazebo, simply open a terminal and run:

In case you are looking for answer #1, it's simple. When running roscore and gazebo, simply open a terminal and run:

What is the filename of the file it keeps overwriting? P.s. I would still recommend trying out imwrite. After googling a

I'm not entirely sure what your problem is here. It is true that Virtualbox calls it's internet connection "Ethernet", b

I'm not entirely sure what your problem is here. It is true that Virtualbox calls it's internet connection "Ethernet", b

I'm not entirely sure what your problem is here. It is true that Virtualbox calls it's internet connection "Ethernet", b

I'm not entirely sure what your problem is here. It is true that Virtualbox calls it's internet connection "Ethernet", b

What is the filename of the file it keeps overwriting?

Sounds like HM Mehrab got the answer up there. That explains why it's happening at least. I'm not actually sure if there

Depending on the range of your laser, it might be that the laser scan matcher simply can't get any significant informati

It seems to still think you have ros-indigo-desktop, ros-indigo-perception, ros-indigo-simulators and ros-indigo-urdf-tu

If you simply need a way to know where your robot is, and don't really care what it looks like, you can simply add an "A

It seems to still think you have ros-indigo-desktop, ros-indigo-perception, ros-indigo-simulators and ros-indigo-urdf-tu

I don't usually use Python, but in C++ we have an imwrite function in openCV. I just googled it and it seems to be there

It seems to still think you have ros-indigo-desktop, ros-indigo-perception, ros-indigo-simulators and ros-indigo-urdf-tu

It seems to still think you have ros-indigo-desktop, ros-indigo-perception, ros-indigo-simulators and ros-indigo-urdf-tu

It seems to still think you have ros-indigo-desktop, ros-indigo-perception, ros-indigo-simulators and ros-indigo-urdf-tu

Did you end up doing this and finding a good solution? I'd gladly hear what you found since I'm going to be trying to us

What a coincidence! I actually found this and tried this last friday at about 4pm. Hadn't actually reported back yet, bu

Hello! I'm currently trying to use teb_local_planner to get my robot to navigate through the willow garage simulation. However, I have the issue that in specific situations the local path planning attemtps to drive through the wall. Ofcourse, this doesn't work and it figures that out quite quickly. After a while though, it attempts to go through the wall again. This sometimes loops for over 2 minutes. I have a video where you can see it happen two times.

I'm using mostly the default settings from navigation stack as you can see in the code-quotes below. Can anyone help me figure out why the local costmap is trying to drive through walls sometimes (and gets stuck in a loop of switching in between trying to drive through wall and the actual route it should take)

launch file:

<launch>
<!-- Run the map server -->
<node name="gmapping" pkg="gmapping" type="slam_gmapping"/>

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap"/>
   <rosparam file="$(find my_robot_name_2dnav)/local_costmap_params.yaml" command="load" />
   <rosparam file="$(find my_robot_name_2dnav)/global_costmap_params.yaml" command="load" />
   <rosparam file="$(find my_robot_name_2dnav)/base_local_planner_params.yaml" command="load" />

   <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
   <param name="controller_frequency" value="4.0" />
 </node>
</launch>

costmap_common_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]]
#robot_radius: ir_of_robot
inflation_radius: 1

observation_sources: scan
scan: {data_type: LaserScan, expected_update_rate: 0.4,
observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}

cost_scaling_factor: 1

base_local_planner_params.yaml

TebLocalPlannerROS:

odom_topic: odom

# Trajectory

teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
global_plan_overwrite_orientation: True
max_global_plan_lookahead_dist: 3.0
feasibility_check_no_poses: 5

# Robot

max_vel_x: 0.4
max_vel_x_backwards: 0.05 #0.2 by default
max_vel_theta: 0.3
acc_lim_x: 0.5
acc_lim_theta: 0.5
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)

footprint_model:
  type: "point"

# GoalTolerance

xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False

# Obstacles

min_obstacle_dist: 0.25 # This value must also include our robot radius, since footprint_model is set to "point".
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.0
obstacle_poses_affected: 30
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5

# Optimization

no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1
weight_obstacle: 50
weight_dynamic_obstacle: 10 # not in use yet

# Homotopy Class Planner

enable_homotopy_class_planning: True
enable_multithreading: True
simple_exploration: False
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: False

roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_keypoint_offset: 0.1

global_costmap_params.yaml

 global_costmap:
 global_frame: /map
 robot_base_frame: base_link
 update_frequency: 5.0
 static_map: true

local_costmap_params.yaml

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

What a coincidence! I actually found this and tried this last friday at about 4pm. Hadn't actually reported back yet, bu

Okay, so I just tried making it a square of several sizes. Once with 0.2 by 0.2 and once with 0.02 by 0.02 (actual local

Okay, so I just tried making it a square of several sizes. Once with 0.2 by 0.2 and once with 0.02 by 0.02 (actual local

Okay, so I just tried making it a square of several sizes. Once with 0.2 by 0.2 and once with 0.02 by 0.02 (actual local

Haven't tried making the footprint a circle yet. I did make a video of local costmap and the TEB markers. Video Will t

Haven't tried making the footprint a circle, but the reason for that is that I need it to work as a square since my (eve

Haven't tried making the footprint a circle, but the reason for that is that I need my (eventual) robot to be square. I

navigation stack with teb_local_planner pathfinding through wall Hello! I'm currently trying to use teb_local_planner to