What is Warn and Error about Rotate recovery?

asked 2014-06-24 18:35:03 -0600

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After planning, ROS outputs a warn and an error on a terminal.

[WARN] [1403639144.542396993]: Rotate recovery behavior started.
[ERROR] [1403639144.542945771]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00

What outputs these warning and error? I means which source file says error and warning? and What kind of problem happens on my plan?
Could anyone give me any clues? Thank you in advance?

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answered 2014-06-25 02:07:04 -0600

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

updated 2014-06-25 02:07:19 -0600

Yes, this in the rotate_recovery behavior inside the navigation stack. However, the actual cause of this is typically more complex. If your robot has an odd-shaped footprint, than that can be the cause. But if you are using a turtlebot, with a circular footprint and centered drive wheels, you should pretty much always be able to rotate in place -- unless localization drifts/jumps, thus putting you on top of an obstacle that was already in the cost map.

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Thanks @fergs, I try to experiment a navigation with turtlebot2. As Turtlebot2 can rotate in place, you say that such a error doesn't arise without drift/jumps?

Ken_in_JAPAN ( 2014-06-25 02:21:40 -0600 )edit

@fergs, I run into this situation quite often with my Kobuki when it is stopped in a hallway and needs to go to the next goal location. I am using amcl and an existing map for localization and the DWA global planner. Is there any way to force a rotation in place as a last resort recovery behavior?

Pi Robot ( 2016-09-18 09:50:08 -0600 )edit

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answered 2014-06-27 09:03:17 -0600

MichaelKorn

1480 ●16 ●18 ●37 http://www.is.uni-due.de/korn/

I means which source file says error and warning?

grep -R "Rotate recovery behavior started." /opt/ros/groovy/
/opt/ros/groovy/stacks/navigation/rotate_recovery/src/rotate_recovery.cpp:  ROS_WARN("Rotate recovery behavior started.");
Binary file /opt/ros/groovy/stacks/navigation/rotate_recovery/lib/librotate_recovery.so matches

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Thanks you @MichaelKorn, The command is useful for me.

Ken_in_JAPAN ( 2014-06-27 14:31:08 -0600 )edit

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answered 2014-06-24 20:19:55 -0600

Ken_in_JAPAN

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updated 2014-06-25 13:27:20 -0600

If we execute rqt, we seem to be able to get many information. in case that Rotate recovery can't rotate in place because there is a potential collision, rqt shows that error happens at the location /home/turtlebot/catkin_ws/src/rotate_recovery/src/rotate_recovery.cpp:RoateRecovery::runBehavior:124 The position at the error is next

footprint_cost = world_model_->footprintCost(x, y, theta, local_costmap_->getRobotFootprint(),0.0,0.0);

and footprint value is likely -1.

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What is Warn and Error about Rotate recovery?

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