Im a very new to ROS. I have a turtlebot with a Kobuki base. Bot came with an Astra camera and I was able to use gmapping and save the map. I was able to run amcl to navigate the map. I have added a xv-11 lidar recently and used the wiki about adding a Lidar. I used the XV-11 driver. I am able to create and save the map using the xv-11 laser. But I am unable to navigate while avoiding obstacles. Turtlebot sees the obstacles via the xv-11 scan but it runs right into the obstacles. I have searched high and low and made some tweaks but nothing seemed to have help. Not sure why I'm doing wrong. Can someone point me in the right direction ?
here is my costmap common file
max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot
Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.14 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) #changed-tkj
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular
footprint: [[0.20, 0.20], [-0.20, 0.20], [-0.20, -0.20], [0.20, -0.20]] #added-by-tkj
map_type: voxel
obstacle_layer:
enabled: true
max_obstacle_height: 0.6
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
unknown_threshold: 15
mark_threshold: 0
combination_method: 1
track_unknown_space: true #true needed for disabling global path planning through unknown space
obstacle_range: 2.5
raytrace_range: 3.0
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false
observation_sources: laser_scan bump
laser_scan:
data_type: LaserScan
topic: scan
sensor_frame: neato_laser
marking: true
clearing: true
min_obstacle_height: 0.25
max_obstacle_height: 0.35
bump:
data_type: PointCloud2
topic: mobile_base/sensors/bumper_pointcloud
marking: true
clearing: false
min_obstacle_height: 0.0
max_obstacle_height: 0.15
# for debugging only, let's you see the entire voxel grid
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
enabled: true
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.25 # max. distance from an obstacle at which costs are incurred for planning paths. #changed-tkj
static_layer:
enabled: true
Originally posted by tjadhav on ROS Answers with karma: 68 on 2017-09-15
Post score: 0
Original comments
Comment by jayess on 2017-09-15:
I formatted the config files to make it easier to read. The easiest way to do that is to paste your config/source/etc. in the text box, highlight it, click the 101010 button.
Comment by tjadhav on 2017-09-15:
Jayess - thanks for fixing the log file. Next time I will use the button.
Comment by jayess on 2017-09-15:
Have you gone through the navigation tuning guide?
Comment by tjadhav on 2017-09-15:
yes, to the best of my newb abilities.
Seems to be like the obstacles are not getting published in the costmap.
Comment by tjadhav on 2017-09-15:
Is there a topic is need to make sure that needs to be published to troubleshoot this?
Comment by tjadhav on 2017-09-15:
ok my turtlebot seems to be behaving correct and avoiding obstacles now. I changed the line in costmap_common_params.yaml.
from
observation _sources: bump laser_scan
to
obstacle_layer: observation_sources: bump laser_scan
Comment by tjadhav on 2017-09-15:
saw this on another question in this forum. I will try and find the link.