clearing_radius costmap

asked 2012-06-25 00:44:09 -0600

pmarinplaza
330 ●29 ●35 ●39

updated 2014-01-28 17:12:48 -0600

ngrennan
1 ●1 ●1

Hello,

I have one question with this parameter in the navigation stack.

I have already running the move_base node with fake_localize, base_local_planner, base_global_planner and works great but I have some troubles because the ugv goes very near of the walls. I try to change this parameters:

clearing_radius inflation_radius

but I can't change the global_planner to make the path very near of the obstacles, the robot goes with the same distance with the difference that it can't go inside some places (maybe because the inflation_radius).

I want the robot goes a little far from the walls (about 30-40 cm). Can anybody tell me how this parameters work? I don't find any documentation.

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answered 2012-06-26 00:29:14 -0600

pmarinplaza
330 ●29 ●35 ●39

updated 2012-06-26 01:03:28 -0600

Lorenz

22731 ●129 ●202 ●316 http://ias.in.tum.de/p...

No, At least I found the correct parameter:

occdist_scale

This parameter causes the robot goes little far from walls.

# Trajectory Scoring Parameters
    goal_distance_bias: 0.8
    path_distance_bias: 0.6
    occdist_scale: 0.2 #0.01
    heading_lookahead: 0.325
    dwa: true

Thanks for the info, you help me very much

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answered 2012-06-25 01:39:35 -0600

Lorenz

22731 ●129 ●202 ●316 http://ias.in.tum.de/p...

I think you need to increase the costs for cells close to obstacles. In addition to the inflation_radius parameter that you already found, I would play around with the cost_scaling_factor parameter. The formula that is uses to calculate cost values can be found here.

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