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Hi,

I'm tunning the navigation stack for my robot, but nafvn is displaying a strange behaviour, sometimes it cannot plan when in narrow places.

Here are some screenshoots

In this case the navfn cannot plan

Anybody has an idea why this is happening

Thanks


Originally posted by fmarques on ROS Answers with karma: 92 on 2012-03-13

Post score: 0


Original comments

Comment by kmhallen on 2013-05-05:
I am seeing the same behavior, but I can't post a screenshot. In tight areas, the plan starts right after the tight area instead of starting from the robot. Edit: Increasing cost_scaling_factor from 0.1 to 10 fixed this problem for me.

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1 Answer 1

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I think navfn is quite simple in that it only plans for circular robots. Your's seems a bit lengthy and rectangular. This would lead to a circumference that just doesn't fit through the passage.


Originally posted by dornhege with karma: 31395 on 2012-03-13

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by tfoote on 2012-03-29:
There have also been some observed bugs in navfn where it's sensitive to initial conditions.

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