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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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Mismatch between the costmaps (local/global) and the static map while Navigation #491

Closed Adel-kn closed 5 years ago

Adel-kn commented 5 years ago

-Robot: waffle Pi -SBC: Raspberry Pi 3

OS installed in SBC: Raspbian OS installed in Remote PC: Ubuntu 16.04 LTS (Xenial Xerus) ROS version: 1.12.14

Hello everyone, Did anyone meet a problem by navigation that the costmap (local and global) does not match the static map and then get many errors and unexpected behavior during navigation? Thanks in advance

navi2

JaehyunShim commented 5 years ago

@Adel-kn

After a rviz window pops up, you need to set the approximate initial pose (position and orientation) of the robot by using '2D Pose Estimate'. Then, when you set a goal pose by using '2D Nav goal', the robot will find its more accurate pose while navigating.

Try it and let us know if you still have the same problem, Ryan

Adel-kn commented 5 years ago

Hello Ryan, thanks for the answer. I already have set the initial pose using " '2D Pose Estimate'", and navigated to a goal. At the beginning after setting the initial pose everything was ok, but during the driving to the goal, I get this problem and should reinitialize the pose and then after a while during the navigation I get the problem again and again. Any Idea?

Adel-kn commented 5 years ago

@rjshim Do you have another idea to solve this problem ?

JaehyunShim commented 5 years ago

@Adel-kn

I cannot think of any reasons for the problem, but I would suggest you

Step 1. Follow our tutorial and check if it works fine. If you have any problems, ask us! Step 2. Now you make your own map in the same way as Step 1, but you would want to check when you have different results from when you did Step 1. if you get different results, think about what you did differently and why that gave you different results.

Honestly, there is no way we can really help if you just ask questions like I did my own thing and it doesn't work.

Regards, Ryan

Adel-kn commented 5 years ago

@rjshim thank you for your response Actually, I tried to navigate with another map which I created but still have the same problem. But when I created a map using a virtual environment (gazebo) and navigated with it then everything was fine without problem. So I am thinking that the problem may be related to a frequency, but I am not sure about that

JaehyunShim commented 5 years ago

@Adel-kn

Would you try the following link?

Regards, Ryan

Adel-kn commented 5 years ago

Helo @rjshim Thanks for the advice but It is not the problem

Adel-kn commented 5 years ago

Here are the tf_tree and the node_grapgh, may they could help node_graph tf_tree

JaehyunShim commented 5 years ago

@routiful Could I get some advice on this issue? I cannot think of any possible reasons for the problem.

JaehyunShim commented 5 years ago

@Adel-kn @routiful I just tested the SLAM and navigation packages and they worked fine.

Screenshot from 2019-09-19 09-38-26

JaehyunShim commented 5 years ago

@Adel-kn

Would you try making a map of narrow corridors or a small room and post it here again? Check if your robot slips on the ground surface while navigating (which could cause a problem you are having now actually).

Regards, Ryan

Adel-kn commented 5 years ago

Hello @rjshim
thanks for all your responses and help. I think my problem was not related to the robot or the navigation stack themselves but it is related to the environment where I am executing the navigation. That means big environments or long corridors without distinguishable landmarks or with only a few of them will lead to a bad localization of the robot (the robot actually loses its pose within the environment). And the solutions to this problem in my opinion are: 1- Once the robot loses its pose we should help it by giving it its actual pose using "pose estimation in Rviz". 2- trying the do the navigation properly or in a smart way by driving the robot to the wanted goal in such a way it has always some special landmarks in its way to the goal 3- If we want to build our environment for doing SLAM and navigation we should be aware to use many landmarks and they should not be the identic in the shape or specification that means to make a distinguishable environment (in the robot point of view) as possible as we can

JaehyunShim commented 5 years ago

@Adel-kn

Good work! Glad you figured out the problem and thank you for sharing it with us.

Let us know if you have any other questions while using our platform and I will close this issue :) Ryan