Hi, While running the turtlebot in autonomous navigation mode, I want it to avoid a certain part of the environment. So I modified the map by drawing some lines using 'Inkscape Vector Graphics Editor', hoping that the turtlebot would not go into the unwanted areas. It works well sometimes, but I have noticed that most of the times, the turtlebot ignores these "fake" obstacles in the map and goes to the unwanted areas anyway.
Modifying the parameter occdist_scale in base_local_planner_params.yaml helped me to better account for local obstacles (if I am not mistaken, this yaml file is only concerned with the local map and not the global one). Is there any such parameter that I could modify so that that I can put a high penalty for hitting global obstacles that are seen in the map? Any other suggestions are welcome too. Thanks.
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