PR2 Spinning, obstacle_range parameter [closed]
Hi,
We've been having trouble getting our PR2 to navigate between a few stations. We can see in Rviz that a path is found when we set a goal, but then the PR2 begin spinning in place continuously (in one direction), even when it would seem perfectly reasonable to continue along its path and there are no immediate obstructions. If we set a 2d nav goal a good distance from any station, however, it seems to head there without much issue.
We also found that by setting the obstacle_range parameter in costmap_params_common.yaml in the pr2_navigation_config package to some low value (e.g. 0.05), the previous issue went away, but obstacles detected by the tilting laser wouldn't be registered.
Any advice on parameters to tune would be appreciated. We're using Diamondback with the default configurations. Thanks!
EDIT: Our problem seems to have been solved. We changed the base_local_planner from DWAPlannerROS to TrajectoryPlannerROS. Still not entirely sure as to the issue.