I apologize in advance if this is a dumb question, but I have been stuck on it for about two weeks and I can't find any post on it.
I am using python and trying to get move_base to integrate with rosstage. After battling with the actionclient API a little bit I got things talking with each other. I am basically trying to make the stage robot move left and up 1 meter. When I run the goal move_base receives it and then gives me this error:
[ERROR] [1302846443.035666337, 35.000000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
When I try to run it again (after fiddling with values I get these two errors):
[ERROR] [1302846508.867209499, 100.800000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00 [ERROR] [1302846509.798151787, 101.700000000]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
The problem is that the robot is not in a collision state and it has at least two meters to the wall? I am kind of lost as to what may be causing this? I am guessing it is somewhere in my costmap yaml files but I don't see what variable would be causing it.
Here is my action client code:
class MyAC2(ActionClient):
def __init__(self, ns, ActionSpec):
ActionClient.__init__(self,ns,ActionSpec)
def transform(self,msg):
print("THIS IS THE TRANSITION\n\n")
print(msg)
def resulter(self,msg,msg2):
print("This is the FEEDBACK!")
print(msg)
print("THIS is message 2")
print(msg2)
g1 = MoveBaseGoal(PoseStamped(Header(frame_id = 'base_link'),Pose(Point(-1,1, 0),Quaternion(0, 0, 0, 1))))
g2 = MoveBaseGoal(PoseStamped(Header(frame_id = 'base_link'),Pose(Point(2, 2, 0),Quaternion(0, 0, 0, 1))))
client = MyAC2('/move_base', MoveBaseAction)
client.wait_for_server(rospy.Duration(100.0))
h1 = client.send_goal(g1,client.transform,client.resulter)
print(client.wait_for_server(rospy.Duration(100.0)))
for i in range (0,3,1):
print(client.wait_for_server(rospy.Duration(100.0)))
rospy.sleep(5)
Anyway I can post the costmap yaml stuff but I figured if anyone had seen this error before they would know how to fix it. Also if any of you have suggestions on how to use python action clients I am all ears. The above code was the only way I could get move_base to receive goals.
Any help would be greatly appreciated, ~BM
Originally posted by BlackManta on ROS Answers with karma: 56 on 2011-04-14
Post score: 0
