Autonomous navigation with turtlebot. Troubles through doors

Question

Hi,

I'm using the navigation stack on turtlebot, but when I try to navigate autonomously in the map my robot can not go through doors. I suspect that's because of the inflated objects. If you look at what's being shown in rviz the blue part of each part of the door is touching at the middle.

Does somebody know where I can change the inflated objects to a smaller range?

Thanks.

---

Originally posted by apalomer on ROS Answers with karma: 318 on 2011-12-05

Post score: 1

---

Original comments

Comment by Eric Perko on 2011-12-05:
Can you post your navigation stack configuration files?

Answer 1

Direct answer to your question is turtlebot_apps/turtlebot_navigation/costmap_common_params.yaml (as in @Pi Robot's comment too).

---

Originally posted by 130s with karma: 10937 on 2011-12-06

This answer was ACCEPTED on the original site

Post score: 2

Answer 2

It is solved.

I've changed this line:

else if(distance <= cell_inscribed_radius_)

for this one:

else if(distance <= cell_inscribed_radius_/2)

so the inflated objects are half big now.

---

Originally posted by apalomer with karma: 318 on 2011-12-06

This answer was NOT ACCEPTED on the original site

Post score: 1

---

Original comments

Comment by Pi Robot on 2011-12-06:
I filed this ticket (https://kforge.ros.org/turtlebot/trac/ticket/97) yesterday which I think is related. (The TurtleBot's radius is set to 2x what it should be.)