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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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the execution can't succeed. #9

Closed marooncn closed 5 years ago

marooncn commented 5 years ago

I do the simulation step by step, but the execution can't succeed as the following: peek 2018-12-22 11-33 I think there maybe some error in the model or parameter setting, Is it?

mintar commented 5 years ago

Thank you for your bug report!

That seems to be a bug in the eband_local_planner: It tries to take a shortcut through the wall. I don't know what causes this. You can try one of the other local planners by changing the local_planner:=eband parameter. Local planner can be either dwa, eband, base, teb or pose. However, the other local planners have different problems, and eband is the one that worked best for me.

In general, the local planner is the part of the navigation config that I'm not yet happy with. If you find better parameters for any of the local planners, please let me know.

marooncn commented 5 years ago

Hi, @mintar, I change the local planner to dwa, but it still doesn't work: peek 2018-12-23 21-38 It seems like two other extension bodies tries to move rather the robot self. So it's judged to stuck while the robot is free.

mintar commented 5 years ago

That's weird, I've never seen anything like that. What are those "extension bodies"? Maybe something goes wrong with your simulation of the laser scans.

mintar commented 5 years ago

This was probably fixed by #13 .