Hi,
I am using ros-indigo on ubuntu 12.04 LTS. I am trying to use navigation stack, but I have some problem.
My robot can move "Initial Pose" to "goal", But can't avoid obstacles. Whether the obstacle require plugins (costmap_2d::StaticLayer) to be inserted in configuration file. Please can one suggest me asap. Thank's in advanced.
My configuration files are as following:
1) common_costmap_params.yaml
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, 0.20]]
footprint_padding : 0.03
inflation_radius: 0.30
cost_scaling_factor: 1
map_type: costmap
max_obstacle_height: 1.0
min_obstacle_height: 0.65
transform_tolerance: 10.0
obstacle_layer:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true, observation_persistence: 0.0, expected_update_rate: 0.0, max_obstacle_height: 1.0, min_obstacle_height: 0.65, obstacle_range: 2.5, raytrace_range: 3.0, inf_is_valid: false}
2) global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 3.0 #20 3
publish_frequency: 2.0 #20 2
static_map: true
rolling_window : true
width: 10.0
height: 10.0
resolution: 0.1
3) local_costmap_params.yaml
local_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 8.0 #10
publish_frequency: 6.0 #10
static_map: false
rolling_window: true
width: 4 #10.0
height: 4 #10.0
resolution: 0.01 #0.05
4) dwa_local_planner.yaml
DWAPlannerROS:
max_vel_x: 0.1099
min_vel_x: -0.1099
max_vel_y: 0.0
min_vel_y: 0.0
acc_lim_th: 0.01099
acc_lim_x: 0.07999
acc_lim_y: 0.0 #0.0
max_trans_vel: 0.0999
min_trans_vel: 0.0199
max_rot_vel: 0.05099
min_rot_vel: 0.01999
rot_stopped_vel: 0.02
sim_time: 1.7
vx_samples: 10
vy_samples: 1
vtheta_samples: 40
forward_point_distance: 0.0 # this value is being used as a cost value for robot alignment to the path
holonomic_robot: false
meter_scoring: true
dwa: true
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.3
latch_xy_goal_tolerance: true
publish_cost_grid: true
path_distance_bias: 32.0
goal_distance_bias: 24.0
occdist_scale: 0.1
stop_time_buffer: 2.0
oscillation_reset_dist: 0.1
prune_plan: false
5) move_base_params.yaml
shutdown_costmaps: false
controller_frequency: 1.0
controller_patience: 1.0
planner_frequency: 1.0
planner_patience: 1.0
conservative_reset_dist: 0.2 #distance from an obstacle at which it will unstuck itself
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