Hello:
I'm trying to configure move_base with my mobile robot platform and i am facing a serious issue. I am using ROS Hydro and navigation stack 1.11.15
I have configured the navigation package to follow the generated path as close as possible and when an unexpected obstacle appears in the path from outside the local window, the navfn and global_path is replanned and everything works OK. But if the obstacle appear near the robot (where the global path is already planned) it is not able to replan and approaches the obstacle until the robot stop.
If I configure the global planner to replan at a certain ratio, it is able to replan avoiding the obstacle, but this is not the behaviour (periodic planning) we want in the real application, only replanning when the path is blocked.
My configuration files are as following:
Base local planner params:
base_global_planner: navfn/NavfnROS
base_local_planner: base_local_planner/TrajectoryPlannerROS
recovery_behaviors: [{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]
controller_frequency: 10.0
planner_patience: 3.0
controller_patience: 5.0
conservative_reset_dist: 3.0
recovery_behavior_enabled: true
clearing_rotation_allowed: true
shutdown_costmaps: false
oscillation_timeout: 0.0
oscillation_distance: 0.5
planner_frequency: 0.0
global_frame_id: map_navigation
TrajectoryPlannerROS:
acc_lim_x: 0.4
acc_lim_y: 0.4
acc_lim_theta: 0.8
max_vel_x: 0.2
min_vel_x: 0.1
max_trans_vel: 0.2
min_trans_vel: 0.1
max_rotational_vel: 0.6
max_vel_theta: 0.6
min_vel_theta: -0.6
min_in_place_vel_theta: 0.3
escape_vel: 0.0
holonomic_robot: false
y_vels: []
xy_goal_tolerance: 0.5
yaw_goal_tolerance: 0.3
latch_xy_goal_tolerance: true
sim_time: 1.0
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 20
controller_frequency: 10
public_cost_grid_pc: true
meter_scoring: true
#DWA
heading_scoring: false
dwa: false
forward_point_distance: 0.325
path_distance_bias: 32
goal_distance_bias: 24
#TRAJECTORY PLANNER
pdist_scale: 0.9
gdist_scale: 0.8
occdist_scale: 0.01
heading_lookahead: 0.325
publish_cost_grid_pc: false
global_frame_id: map_navigation
oscillation_reset_dist: 0.05
prune_plan: true
NavfnROS:
allow_unknown: false
planner_window_x: 0.0
planner_window_y: 0.0
default_tolerance: 0.0
visualize_potential: false
Local costmap params:
local_costmap:
# Coordinate frame and TF parameters
global_frame: map_navigation
robot_base_frame: base_link
transform_tolerance: 1.0
# Rate parameters
update_frequency: 2.0
publish_frequency: 2.0
#Map management parameters
rolling_window: true
width: 8.0
height: 8.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0
static_map: false
obstacle_layer:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: hokuyo_link, data_type: LaserScan, topic: hokuyo/scan, marking: true, clearing: true, observation_persistence: 0.0, expected_update_rate: 0.0, max_obstacle_height: 2.0, min_obstacle_height: -2.0, obstacle_range: 4.0, raytrace_range: 5.0, inf_is_valid: false}
max_obstacle_height: 2.0
obstacle_range: 4.0
raytrace_range: 5.0
track_unknown_space: false
inflation_layer:
inflation_radius: 5.52
cost_scaling_factor: 2.0
plugins:
-
name: obstacle_layer
type: "costmap_2d::ObstacleLayer"
-
name: inflation_layer
type: "costmap_2d::InflationLayer"
Global costmap params:
global_costmap:
# Coordinate frame and TF parameters
global_frame: map_navigation
robot_base_frame: base_link
transform_tolerance: 1.0
# Rate parameters
update_frequency: 5.0
publish_frequency: 2.0
#Map management parameters
rolling_window: false
resolution: 0.05
static_map: true
#Static Layer
static_layer:
unknown_cost_value: -1
lethal_cost_threshold: 100
map_topic: map_navigation
obstacle_layer:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: hokuyo_link, data_type: LaserScan, topic: hokuyo/scan, marking: true, clearing: true, observation_persistence: 0.0, expected_update_rate: 0.0, max_obstacle_height: 2.0, min_obstacle_height: -2.0, obstacle_range: 4.0, raytrace_range: 5.0, inf_is_valid: false}
max_obstacle_height: 2.0
obstacle_range: 4.0
raytrace_range: 5.0
track_unknown_space: false
inflation_layer:
inflation_radius: 5.52
cost_scaling_factor: 2.0
plugins:
- name: static_layer
type: "costmap_2d::StaticLayer"
-
name: obstacle_layer
type: "costmap_2d::ObstacleLayer"
-
name: inflation_layer
type: "costmap_2d::InflationLayer"
Thank you in advance for any idea about how to solve it.
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