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RobotnikAutomation / rbvogui_sim

Packages for the simulation of the RB-VOGUI, RB-VOGUI-XL and RB-VOGUI-6W robots (including UR arms)
https://robotnik.eu/es/productos/robots-moviles/rb-vogui/
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Move robot script doesn't reach the desired position #10

Closed AlessioCalini closed 1 year ago

AlessioCalini commented 1 year ago

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

AlessioCalini commented 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.