Move Base - SBPL - CarLike Ackermann

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Hello,

I have robot with the mechanical motion working like a car. I am using the sbpl_lattice package (http://www.ros.org/wiki/sbpl_lattice_planner) + move_base + carlike_local_planner (https://bitbucket.org/alexbuyval/carlikemodel). [on ros fuerte]

I am facing some troubles,

• there is other easy option to get a global planner and local navigation for this kind of robots?

main question:

when I re-size the footprint for my robot from: footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] to: footprint: [[0.90, -0.35], [0.90, 0.35], [-0.20, 0.35], [-0.20, -0.35]]

The system takes to long to start (more than 10 minutes). What could be the problem?

I am using a gridmap with 1 cm of resolution... with move base parameters #START VOXEL STUFF map_type: voxel map_topic: mapNav origin_z: 0.0 z_resolution: 0.2 z_voxels: 10 unknown_threshold: 9 mark_threshold: 0 #END VOXEL STUFF transform_tolerance: 0.3 obstacle_range: 2.5 max_obstacle_height: 2.0 raytrace_range: 3.0 footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] robot_radius: 0.46 footprint_padding: 0.01 inflation_radius: 0.55 cost_scaling_factor: 10.0 lethal_cost_threshold: 100 observation_sources: /S3000Scan /S3000Scan: {data_type: LaserScan, expected_update_rate: 1, observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}

thanks