when the robot get close to the object, global planner changes and donot detour the object!

edit

hi everyone,

I want to do autonomous navigation, I have used rtabmap, and activated icp_odometry. then i gaved the odometry output of rtabmap into move_base. I have used dwa local, planner and global planner. I want that the vehicle do object detection and detour it, I have static objects. first I launch rtabmap and move- base, and move forward to a location to extract its coordinate, and then return back to initial location. when i send the goal, in rviz i can see that the global-path detour the object, but when the vehcile starts moving the global planner starts changing and when it is near the object, the planner shows in a way that wants to hit it, it seems that it cannot see the objects any more. I have used these file: https://kaiyuzheng.me/documents/navgu... , but i did not get the result yet. I would be grateful if anybody can help as it is urgent for me.

move_base
<launch>
  <arg name="odom_frame_id"   default="icp_odom"/>
  <arg name="base_frame_id"   default="base_link"/>
  <arg name="global_frame_id" default="map"/>
  <arg name="odom_topic" default="/rtabmap/odom" />               

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/costmap_common_params.yaml" command="load" ns="local_costmap" />   
    <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/local_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/move_base_params.yaml" command="load" />

    <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/global_planner_params.yaml" command="load" />
    <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/dwa_local_planner_params.yaml" command="load" />

    <!-- reset frame_id parameters using user input data -->
    <param name="global_costmap/global_frame" value="$(arg global_frame_id)" />
    <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)" />
    <param name="local_costmap/global_frame" value="$(arg odom_frame_id)" />
    <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)" />
    <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)" />

    <param name="base_global_planner" value="global_planner/GlobalPlanner" />
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />


    <remap from="odom" to="$(arg odom_topic)" />

  </node>
</launch>

...........................................................................................................

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

  allow_unknown: true                             
  planner_window_x: 0.0                    
  planner_window_y: 0.0                    
  default_tolerance: 0.0                   

  publish_scale: 100                        
  planner_costmap_publish_frequency: 0.0        

  lethal_cost: 253                             
  neutral_cost: 66                             
  cost_factor: 0.55                              
  publish_potential: true

.........................................................................................................

    DWAPlannerROS:

    # Robot Configuration Parameters
      max_vel_x: 0.3  
      min_vel_x: 0.0  

      max_vel_y: 0.0
      min_vel_y: 0.0

      # The velocity when robot is moving in a straight line
      max_trans_vel:  1.0   
      min_trans_vel:  0.1     
      trans_stopped_vel: 0.1

      max_rot_vel: 0.2     
      min_rot_vel: 0.0    
      rot_stopped_vel: 0.8

      acc_lim_x: 1.5    
      acc_lim_theta: 3.2   
      acc_lim_y: 0.0

    # Goal Tolerance Parametes
      yaw_goal_tolerance: 1.3   
      xy_goal_tolerance: 1.35   
      latch_xy_goal_tolerance: false   

    # Forward Simulation Parameters
      sim_time: 3.5    
      vx_samples: 20
      vy_samples: 1    
      vtheta_samples: 40

    # Trajectory Scoring Parameters
      path_distance_bias: 20.0    
      goal_distance_bias: 5.0  
      occdist_scale: 0.2  
      forward_point_distance: 0.0
      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
      global_frame_id: odom
      sim_granularity: 0.025
.....................................................................................................
cost common-param ...