Robot does not percieve other robots as obstacles

edit

I have a multi robot system where they all have a version of the navstack with different namespaces. They all share the same costmap parameters but again in a different namespace.

The problem is that when I give a 2d nav goal to a robot, it moves somewhat biasedly in a straight line, and runs straight into another robot. There is plenty of space to navigate around it, but it seems it does not percieve it as an obstacle, even though it is visible that it shows up on the laserscan.

Please take a look at the linked video. https://imgur.com/a/6d81brc I apologize for the bad quality, I tried to use kazam, but it just recorded a black screen of rviz.

Here are the costmap and planner parameters:

Global costmap parameter:

global_costmap:
  global_frame: map
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: true

Local costmap parameter:

local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5  

  static_map: false  
  rolling_window: true
  width: 3
  height: 3
  resolution: 0.05

Costmap common parameter:

obstacle_range: 3.0
raytrace_range: 3.5

footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
#robot_radius: 0.105

inflation_radius: 1.75 #default 1.0
cost_scaling_factor: 20 #default 3.0

map_type: costmap
observation_sources: scan
scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}

Global planner parameter:

GlobalPlanner:                                  
  old_navfn_behavior: false                     
  use_quadratic: true                           
  use_dijkstra: true                            
  use_grid_path: false                          

  allow_unknown: true                           
  planner_window_x: 0.0                         # default 0.0
  planner_window_y: 0.0                         # default 0.0
  default_tolerance: 0.0                        

  publish_scale: 100                            
  planner_costmap_publish_frequency: 0.0        # default 0.0

  lethal_cost: 253                              # default 253
  neutral_cost: 50                              # default 50
  cost_factor: 3.0                              # default 3.0
  publish_potential: true

DWA local planner parameter:

DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.22
  min_vel_x: -0.22

  max_vel_y: 0.0
  min_vel_y: 0.0

# The velocity when robot is moving in a straight line
  max_vel_trans:  0.22
  min_vel_trans:  0.11

  max_vel_theta: 5.0 #Default 2.75
  min_vel_theta: 2.5 #default 1.37

  acc_lim_x: 2.5
  acc_lim_y: 0.0
  acc_lim_theta: 3.2 

# Goal Tolerance Parametes
  xy_goal_tolerance: 0.05
  yaw_goal_tolerance: 0.17
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 4.5 #Default 1.5
  vx_samples: 20
  vy_samples: 0
  vth_samples: 40
  controller_frequency: 10.0

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 8.0 #Default 20.0
  occdist_scale: 0.00 #Default 0.02
  forward_point_distance: 0.0 #Default 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true