move_base sometimes fails to drive, how to find out why

edit

Hi,

I try to use move_base to drive my robot. I have the setup working quite fine, most of the time, using gmapping for map->odom tf, and the global planner working in the map frame. The local planner is working in the odom frame completely.

My issue is, that sometimes move_base just won't drive for no apparent reason.

I get this warning quite often:

Could not get robot pose, cancelling reconfiguration

Usually this does not seem to matter much. But I have no real idea, where that comes from. Is there anyway to investigate that further?

Then, before the robot stops moving I sometimes got this error (but not always):

 Aborting because a valid control could not be found. Even after executing all recovery behaviors

At this point, the global planner, still publishes paths on move_base/NavfnROS/plan, but there is nothing published on move_base/TrajectoryPlannerROS/local_plan.

So it seems that the local planner gave up. I watched the local obstacles in rviz and this also happens if there are no local obstacles at all. How can I find out for what reason the local planner gave up?

The robot actually starts moving again, as soon as it gets a new goal, either from exploration or manually from rviz. Then it will drive just fine, until it again, just stops moving for no obvious reason.