Open umhan35 opened 5 years ago
Sounds like the same issue reported here https://github.com/fetchrobotics/fetch_ros/issues/102
@narora1 @safrimus
We've made some improvements but I think this is still a bit of an issue.
I've added Help Wanted and More Info Needed, similar to #36
@umhan35 Hi, it might work better if you reduce the inflation_radius specified in costmap_common.yaml under fetch_navigation/config. (the default value is 0.7m) In your case, the robot has to be close to the table to pick up the cube, while large inflation_radius keeps the robot away from the obstacles, and the robot starts rotation recovery if it is within the inflation layer of the table.
@xujingren We actually have another map and move_base config that works in our test course but not in Gazebo 9. The root cause is #102. We tested on Ubuntu 14.04 with Gazebo 2 and it works.
Hi, I am using Ubuntu 18.04 and ROS Melodic (to align with the version that the FetchIt robot has).
I followed the gazabo tutorial (https://docs.fetchrobotics.com/gazebo.html) and run the following:
I expect the robot will move to the table and pick the blue cube, but after the robot moved near table keeps rotating it self. During 2 times, I waited 10 minutes before "Aborting because a valid control could not be found. Even after executing all recovery behaviors"
Rotating:![r](https://user-images.githubusercontent.com/3271612/52792302-ff271800-30a5-11e9-8f15-8358512c86a5.png)
Here is the excerpt of the log:
Here is the full log: