What is Warn and Error about Rotate recovery?

Question

After planning, ROS outputs a warn and an error on a terminal.

[WARN] [1403639144.542396993]: Rotate recovery behavior started.
[ERROR] [1403639144.542945771]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

What outputs these warning and error? I means which source file says error and warning? and What kind of problem happens on my plan?
Could anyone give me any clues? Thank you in advance?

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Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-06-24

Post score: 0

Answer 1

Yes, this in the rotate_recovery behavior inside the navigation stack. However, the actual cause of this is typically more complex. If your robot has an odd-shaped footprint, than that can be the cause. But if you are using a turtlebot, with a circular footprint and centered drive wheels, you should pretty much always be able to rotate in place -- unless localization drifts/jumps, thus putting you on top of an obstacle that was already in the cost map.

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Originally posted by fergs with karma: 13902 on 2014-06-25

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by Ken_in_JAPAN on 2014-06-25:
Thanks @fergs, I try to experiment a navigation with turtlebot2. As Turtlebot2 can rotate in place, you say that such a error doesn't arise without drift/jumps?

Comment by Pi Robot on 2016-09-18:
@fergs, I run into this situation quite often with my Kobuki when it is stopped in a hallway and needs to go to the next goal location. I am using amcl and an existing map for localization and the DWA global planner. Is there any way to force a rotation in place as a last resort recovery behavior?

Answer 2

I means which source file says error and warning?

grep -R "Rotate recovery behavior started." /opt/ros/groovy/
/opt/ros/groovy/stacks/navigation/rotate_recovery/src/rotate_recovery.cpp:  ROS_WARN("Rotate recovery behavior started.");
Binary file /opt/ros/groovy/stacks/navigation/rotate_recovery/lib/librotate_recovery.so matches

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Originally posted by MichaelKorn with karma: 1480 on 2014-06-27

This answer was NOT ACCEPTED on the original site

Post score: 2

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Original comments

Comment by Ken_in_JAPAN on 2014-06-27:
Thanks you @MichaelKorn, The command is useful for me.