Hi, I'm running navigation stack with a rosbot, my problem is that when my robot is close to the obstacles, it stops. This is normal, but the recovery behaviours doesn't start, this is not normal. If I go to the robot, it detects me, the local costmap updates, and it comes move again.
TrajectoryPlannerROS:
acc_lim_x: 1.0
acc_lim_y: 1.0
acc_lim_theta: 0.6
max_vel_x: 0.35
max_vel_theta: 0.5
min_in_place_vel_theta: 0.3
escape_vel: -0.3
xy_goal_tolerance: 0.10
yaw_goal_tolerance: 0.25
path_distance_bias: 40.0
stop_time_buffer: 0.5
holonomic_robot: false
meter_scoring: true
sim_time: 2.0
global_frame_id: map
controller_patience: 5.0
planner_frequency: 2.0
Common params.yaml
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.10,0.12],[0.10,-0.12],[-0.10,-0.12],[-0.10,0.12]]
inflation_radius: 0.4
resolution: 0.1
use_dijkstra: false
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser_frame, data_type: LaserScan, topic: scan, clearing: true, marking: true}
local_costmap:
update_frequency: 5.0
publish_frequency: 1.0
static_map: false
rolling_window: true
height: 5.0
width: 5.0
resolution: 0.1
global_frame: odom
robot_base_frame: base_link
publish_cost_grid: true
Sometimes, after a long time stopped, it comes move again.
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