Path Planning error with Move_Base
Hello,
I am currently implementing a simulation wherein a robot is supposed to explore and map an unknown environment. An exploration algorithm decides on a frontier cell for a robot to move towards and then sends it to move_base which does the rest. This works for some time, but then move_base begins to provide a faulty path, one that cuts right through a high cost route, as shown in the figure. The drive folder in the link also contains the rqt_graph, tf tree and a screenshot of the Stage simulation.
At this stage, the robot stops moving and continuously displays the warning:
Unable to get starting pose of robot, unable to create global plan
This is then followed by the errors: Cannot clear map because pose cannot be retrieved and Aborting because a valid plan could not be found. Even after executing all recovery behaviors.
If I then teleoperate the robot a bit and restart the whole process, it continues exploring for a while again, till move_base plans another path through a high-cost region.
Am I making any obvious mistakes here? Should I retune my costmap parameters? Is there any way I can make move_base provide an alternate that does not traverse through the high cost region?
If anyone has any suggestions at all on how I can prevent this from happening, please share them, I would greatly appreciate it.
Thank You.
Could you please your map and more important the tf_views graph?
Hello Andromeda,
I've uploaded the tf_views graph and the ros graph to the drive folder. The map that I'm using is a willow garage map in Stage, I have uploaded a screenshot of the same.
ok! Sorry! but I m working right now and cannot open such links!
Sure, that's quite alright. Please do look at it a little later when you're free, I would greatly appreciate your help.
I looked your files. Sorry no idea... Some experienced guys can help you better than me.