ayato's profile - activity

@Mike Scheutzow, "the path would encroach into the inscribed cost area" The inscribed area that I said is created by i

@Mike Scheutzow, When I set parameters, I write them in ~.yaml and load them in the launch file using <rosparam file

@Mike Scheutzow,I'm sorry for the confusion I caused by trying to explain why I disabled the obstacle_layer. As for foo

@Mike Scheutzow, I'm talking about global_planner in the navigation package all time. In my case, the global_costmap co

@Mike Scheutzow Sorry for the lack of explanation. What I am trying to achieve now is to make sure that the coordina

@Mike Scheutzow Sorry for the lack of explanation. What I am trying to achieve now is to make sure that the coordina

@Mike Scheutzow Sorry for the lack of explanation. What I am trying to achieve now is to make sure that the coordinat

Hello @Mike Scheutzow, I use global_planner. I set use_dijkstra to true, use_quadratic to true and old_navfn_behavior

Sometimes global_plannner generates a path inside the inscribed cost area Hello, I have developed a program to check if

How to install built packages I developed I'm currently looking for a way to install built packages developed. I have s

How to install built homebrew packages I'm currently looking for a way to install built homebrew packages. I have some

How to install built homebrew packages I'm currently looking for a way to install built homebrew packages. I have some

How to install built homebrew packages I'm currently looking for a way to install built homebrew packages. I have some

Can I use GPU acceleration? Hello, When I started developing robots, I bought a Jetson Xavier NX, partly because I wa

I am indeed looking at the global path published by navfn and global_planner.When I used the "decay time" function, I co

Hello @Mike Scheutzow, I'm sorry that my expression was not correct.I am not focusing on making the robot run in a stra

The global path gradually oscillates Hello, I am currently developing an autonomous robot using move_base. A strange

How do I merge 2D maps? Hello, I am using the gmapping package to create a 2D map. One of the targets for my robot is

Hello @rezenders, Unfortunately, I haven't yet found a way to do the re-mapping. Certainly, I agree with the classific

How to adapt map with environment change Hello, My robot is equipped with 2d lidar, so I generate environment map with

Sometimes rotate in place at the corner Hello, My robot is planning path and controlling velocity with move_base. In

Hello,

My robot is planning path and controlling velocity with move_base.
In many cases, it seems to be working properly.
However, there were times when it suddenly started rotating in place or recovery behaviors was run even though there were no obstacles.
I checked rosout log at this time, and I found that "map update loop missed" log remained.

Further investigation revealed the following.

• I set update_frequency of global costmap to 10 Hz, but there was a delay in seconds, and in the worst case, it was delayed by about 20 seconds.
• I analyzed bag file using rqt_bag, footprint of local costmap was constantly updated, but only footprint of global costmap was rarely updated.
• These phenomena occurred only during path planning and running, and did not occur when no goal was set for move_base. In those idle time, also footprint of global costmap was published in correct frequency. (I set shutdown_costmaps of move_base to true.)
• I compiled move_base package with catkin_make using -DCMAKE_BUILD_TYPE=Release.
• I also watched the CPU and memory resources, but it seemed that there was still about 40% left.
• The size of map (.pgm) that global costmap subscribe is over 30 MB...

I don't know what to look for, so please give me some wisdom.
How to fix it is also welcome.

Thanks in advance.

costmap_params_common.yaml

robot_radius: 0.35
footprint_padding: 0.05
obstacle_layer:
  observation_sources: scan1 scan2 scan3
  obstacle_range: 4.5
  raytrace_range: 4.9
  track_unknown_space: true
  footprint_clearing_enabled: false

  scan1: {sensor_frame: scan1_frame, data_type: LaserScan, topic: scan1, marking: true, clearing: true}
  scan2: {sensor_frame: scan2_frame, data_type: LaserScan, topic: scan2, marking: true, clearing: true}
  scan3: {sensor_frame: scan3_frame, data_type: LaserScan, topic: scan3, marking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 10.0
  publish_frequency: 0.5

  width: 10.0
  height: 10.0

  plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}

  inflation_layer:
    cost_scaling_factor: 5.0
    enabled: true
    inflate_unknown: false
    inflation_radius: 1.2

  resolution: 0.025
  static_map: true
  rolling_window: false
  transform_tolerance: 0.5
  meter_scoring: true

local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 10.0
  publish_frequency: 0.2

  width: 7.0
  height: 7.0

  plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}

  inflation_layer:
    cost_scaling_factor: 5.0
    enabled: true
    inflate_unknown: false
    inflation_radius: 1.0

  resolution: 0.025
  static_map: false
  rolling_window: true
  transform_tolerance: 0.5
  meter_scoring: true

@Tristan9497 I'm really sorry for the delay in replying. However, it is difficult to change the inflation radius and re

@Tristan9497 Thanks for your answer.I added costmap config, please check it. You're right, 5Hz may be too fast, but I'm

"map update loop missed" happen frequently when robot path plan and run Hello, My robot is planning path and controll

"map update loop missed" happen frequently when robot path plan and run Hello, My robot is planning path and controll

Hello,

I want to limit the travel path of the robot to some extent.
So, I set goal minutely and published the goals to move_base using SimpleActionServer.

This plan was successful that the robot go through the route I envisioned, but the robot stopped at each goal points.

Is there a way the robot go through goal point without stopping?

I've found that teb_local_plannner has a parameter called free_goal_vel, which seems to be close to what I want.
But I don't want to use teb_local_plannner, because teb_local_plannner seems to retreat frequently.
Now I use base_local_planner.

Thanks in advance.