Closed AlessioCalini closed 1 year ago
The problem was that the footprintCost function sometimes fails to convert a footprint point to map coordinates, because it is outside of the local costmap (which silently results in the same cost as if there was an obstacle), so I solved this problem by increasing the dimension of the robot footprint.
When i run the move robot script (step number 8 of the README) the robot starts to move but it will never reach the point, seems that it is moving around the goal point without reaching it. In the terminal i got these warnings:
[WARN] [1685893825.629152138, 120.808000000]: TebLocalPlannerROS: trajectory is not feasible. Resetting planner... [ WARN] [1685893825.968676653, 120.857000000]: TebLocalPlannerROS: trajectory is not feasible. Resetting planner... [ WARN] [1685893826.257052771, 120.907000000]: TebLocalPlannerROS: trajectory is not feasible. Resetting planner...
[ WARN] [1685893863.480510991, 128.207000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0580 seconds