Hi Guys,
Using Groovy's navigation stack and move_base, I am trying to send a goal/waypoint to the robot that is at least 100 meters away from the robots current position, if not more.
The local planner that I am using is: dwa_local_planner/DWAPlannerROS
The global planner that I am using is: navfn/NavfnROS
For the local and global costmap, I do not have a "static_map", so that is false, and I have turned rolling_window to true.
The problem that I have come across is dynamic reconfigure tells me the width and height of the map has a MAX of 20 meters. It does not seem like I can get around this limitation.
I am able to go to successive goals that are less than 10 meters away from the robot, and the robot does fine getting to that position. So it looks like the rolling window is working fine. But when I give a goal at a distance greater than 10 meters it gives off this warning:
"The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal."
Is there a way to increase the global costmap greater than 20x20 meters, or another parameter I can change so the global planner can just plan as the robot moves?
Thank you for any suggestions.
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EDIT:
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So it looks like setting the height and width to greater than 20x20 in my global_costmap yaml file WORKS. This file is called in the launch file. But if move_base crashes and than respawns it will set the height and width of the global costmap back to 20x20. This is bad as the waypoints fall off the global costmap again and the planner fails.
Is there a way to make the parameters persist after a crash and respawn of move_base?
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