Path following problem with move_base
Hello,
I'm trying to configure move_base
for a geo-fencing application to keep the robot out of certain areas. I have a static map with fixed obstacles. Dynamic obstacle detection is not required. I manage to get a global path correctly, the robot starts following it but when it gets close to an obstacle it stops following the path and starts rotating in one place. I did my best to search for answers on this forum and tried plenty of various option but apparently not the right ones. Any ideas what might cause this strange behaviour? Thank you!
Link to screenshots showing the problem.
common_costmap_params.yaml
transform_tolerance: 1.0
robot_radius: 0.5
global_costmap_params.yaml
global_costmap:
global_frame: map
robot_base_frame: base_link
plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
inflation:
inflation_radius: 4.0
cost_scaling_factor: 1.5
local_costmap_params.yaml
local_costmap:
global_frame: odom
robot_base_frame: base_link
plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
inflation:
inflation_radius: 2.0
cost_scaling_factor: 1.5
base_local_planner_params.yaml
controller_frequency: 5.0
recovery_behavior_enabled: true
clearing_rotation_allowed: false
TrajectoryPlannerROS:
acc_lim_x: 0.75
acc_lim_y: 0.75
acc_lim_theta: 1.57
max_vel_x: 1.5
min_vel_x: 0.2
max_vel_theta: 1.0
min_vel_theta: -1.0
min_in_place_vel_theta: 0.1
sim_time: 2.0
sim_granularity: 0.25
angular_sim_granularity: 0.25
path_distance_bias: 5.0
goal_distance_bias: 0.8
occdist_scale: 0.1
meter_scoring: true
oscillation_reset_dist: 0.5
escape_reset_dist: 0.1
escape_reset_theta: 1.57
vx_samples: 20
vtheta_samples: 20
heading_lookahead: 1.0
holonomic_robot: false
escape_vel: -0.2
dwa: true
heading_scoring: false
heading_scoring_timestep: 0.5
simple_attractor: false
yaw_goal_tolerance: 0.2
xy_goal_tolerance: 1.0