Hello,
I am currently implementing a simulation wherein a robot is supposed to explore and map an unknown environment. An exploration algorithm decides on a frontier cell for a robot to move towards and then sends it to move_base which does the rest. This works for some time, but then move_base begins to provide a faulty path, one that cuts right through a high cost route, as shown in the [figure](https://drive.google.com/folderview?id=0B-duhOA4E85LcWZrbGVVTHhZblE&usp=sharing). The drive folder in the link also contains the rqt_graph, tf tree and a screenshot of the Stage simulation.
At this stage, the robot stops moving and continuously displays the warning:
**Unable to get starting pose of robot, unable to create global plan**
This is then followed by the errors:
**Cannot clear map because pose cannot be retrieved**
and
**Aborting because a valid plan could not be found. Even after executing all recovery behaviors.**
If I then teleoperate the robot a bit and restart the whole process, it continues exploring for a while again, till move_base plans another path through a high-cost region.
Am I making any obvious mistakes here? Should I retune my costmap parameters? Is there any way I can make move_base provide an alternate that does not traverse through the high cost region?
If anyone has any suggestions at all on how I can prevent this from happening, please share them, I would greatly appreciate it.
Thank You.
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