I'm running ROS Kinetic on a Nvidia Jetson TX1. AMCL works fine. However, when I send a navigation goal through rviz, `move_base` publishes the goal on `current_goal`, but does not plan a path. There are no errors or warnings. I am using a 2D 270° Hokuyo laser scanner for observation. The navigation stack creates both local and global costmaps successfully, but no path is planned no matter where I place a goal. I don't think this matters, but I'm using `tf2` instead of `tf`. Has anyone had a similar issue and/or know why the navigation stack is not planning a path? My parameter files are below:
base_local_planner_params.yaml
==========================
TrajectoryPlannerROS:
max_vel_x: 0.3
min_vel_x: 0.1
max_vel_theta: 0.4
min_in_place_vel_theta: 0.2
acc_lim_theta: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
meter_scoring: true
holonomic_robot: false
costmap_common_params.yaml
=========================
obstacle_range: 10.0
raytrace_range: 12.0
footprint: [[-0.22, 0.26], [0.22, 0.26], [0.22, -0.26], [-0.22, -0.26]]
inflation_radius: 0.5
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
global_costmap_params.yaml
=======================
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 2.0
static_map: true
local_costmap_params.yaml
======================
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 2.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
controller_frequency: 5.0
move_base.launch
===============
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