Hello, I am trying to let PR2 go parallel with a Wall as close as it can be (hopeful around 5cm).
I tried to change some parameters in global_costmap, local_costmap and safe_teleop_base using rqt_reconfigure since I am not sure which one of them affect the real robot.
i made the inflation_radius and even the robot radius to a very small number and I could check from the Rviz that the cost_map has changed. However, PR2 stops everytime when the space between the robot and the wall is around 20 cm and i can see there is still space between /safe_teleop_base/local_costmap/obstacle_layer_footprint/footprint_stamped and the obstacle (wall).
how can i let PR2 go as close as it can be to an obstacle and what parameters should i adjusts?
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