0
$\begingroup$

Rosanswers logo

Hello,

I'm using navigation stack with following parameters:

(costmap_common_params.yaml)

global_frame: /map

robot_base_frame: base_footprint

update_frequency: 0.5

publish_frequency: 0.5

obstacle_range: 2.5

raytrace_range: 3.0

min_obstacle_height: 0.6

inflation_radius: 1.5

observation_sources: scan

scan: {sensor_frame: laser_scan_link, data_type: LaserScan, topic: stereo/laser_scan, marking: true, clearing: true}

(eband_planner_params.yaml)

EBandPlannerROS:

TRAJECTORY CONTROL

differential_drive: true

velocity limits

max_vel_lin: 0.4

max_vel_th: 0.2

min_vel_lin: 0.08

min_in_place_vel_th: 0.05

goal tolerance

xy_goal_tolerance: 0.2

yaw_goal_tolerance: 0.2

(global_costmap_params.yaml)

global_costmap:

robot_base_frame: base_footprint

update_frequency: 0.5

publish_frequency: 0.5

static_map: true

transform_tolerance: 0.5

footprint_padding: 0.05

(local_costmap_params.yaml)

local_costmap:

global_frame: /map

robot_base_frame: base_footprint

update_frequency: 0.5

publish_frequency: 0.5

static_map: true

rolling_window: true

width: 5.0

height: 5.0

resolution: 0.05

transform_tolerance: 0.5

footprint_padding: 0.0

(move_base_params.yaml)

footprint: [[0.375, 0.375], [0.375, 0.0], [0.4125, 0.0], [0.4125, -0.0375], [0.375, -0.0375], [0.375, -0.375], [-0.075, -0.375], [-0.075, -0.4875], [-0.375, -0.4875], [-0.375, 0.4875], [-0.075, 0.4875], [-0.075, 0.375]]

The controller_frequency is set to 1.0. The problem is that the global plan computed goes through the wall. The plan of NavfnROS is fine. The bad one in the image is the global plan of EBandPlannerROS (robot tries to follow this one). As seen by the below image, Laser scan is well defined. I don't understand why this path is computed. Can anyone help me on this issue please?

image description


Originally posted by aba92 on ROS Answers with karma: 29 on 2015-11-23

Post score: 0

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

I just left eband planner. I am using the standard one, base_local_planner, and everything is ok! Thank you


Originally posted by aba92 with karma: 29 on 2015-11-23

This answer was ACCEPTED on the original site

Post score: 0

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.