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RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.
BSD 3-Clause "New" or "Revised" License
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Fix global costamp inflation layer #174

Closed eborghi10 closed 4 years ago

eborghi10 commented 4 years ago

This PR fixes the global costmap inflation layer to detect new obstacles in the map. It also adds a new local planner (trajectory_rollout).

Instructions:

LOCALIZATION=amcl RVIZ_CONFIG=navigation roslaunch ca_gazebo create_house.launch

Notes:

I started seeing these messages but I don't know where they came from.

[ WARN] [1588730864.746267022, 4.260000000]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1588730864.746892824, 4.261000000]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided

At the beginning I'm seeing a lot of this:

DWA planner failed to produce path.

Screenshot from 2020-05-05 23-10-38

I suspect that move_base can be tweaked a bit more too.