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nobleo / full_coverage_path_planner

Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area
Apache License 2.0
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Unable to traverse all nodes #50

Open lttt123 opened 10 months ago

lttt123 commented 10 months ago

At the same time, I also want to ask why, after planning the global path as a plugin, the car does not follow the global path, but instead skips many nodes. My map has a total of more than 200 nodes, but it stops after walking more than 30 and says' goal reached '

Timple commented 10 months ago

That should not be the case. Can you provide a minimal reproducable example?

rokusottervanger commented 10 months ago

I guess that depends on what kind of local planner you are using, and the end conditions. If the end of the plan is within limits, the local planner might exit with goal_reached.

1234564lll commented 10 months ago

I guess that depends on what kind of local planner you are using, and the end conditions. If the end of the plan is within limits, the local planner might exit with goal_reached.

I am using TEB and I am not quite sure what the ending conditions you mentioned are

1234564lll commented 10 months ago

That should not be the case. Can you provide a minimal reproducable example?

I can't quite explain it orally. The video has already been sent to your email

rokusottervanger commented 10 months ago

Firstly, I'm getting the idea that your localization is not working correctly, because I see your robot move laterally across the map in Rviz. That does not help when trying to navigate along a path.

Secondly, I see that TEB tries to go to the end point of the path after following a number of nodes one by one nicely. I'm not sure why this is happening, but it might have to do with the local planner settings. Try the via_points in TEB and see if that helps, and let us know if it worked.

1234564lll commented 10 months ago

Firstly, I'm getting the idea that your localization is not working correctly, because I see your robot move laterally across the map in Rviz. That does not help when trying to navigate along a path.

Secondly, I see that TEB tries to go to the end point of the path after following a number of nodes one by one nicely. I'm not sure why this is happening, but it might have to do with the local planner settings. Try the via_points in TEB and see if that helps, and let us know if it worked.

I used the DWA algorithm, but the terminal will display DWA planner failed to product path, so it needs to re plan the global path, which is not what we want to see

rokusottervanger commented 10 months ago

I believe the DWA local planner needs the next global plan point to be within the local costmap, otherwise it will fail to produce a path.

1234564lll commented 10 months ago

I believe the DWA local planner needs the next global plan point to be within the local costmap, otherwise it will fail to produce a path.

so what should i do to get the global point, i am confused of it.Can he be used as a plugin or not。If ok,what should i do

rokusottervanger commented 10 months ago

Could you share your configuration? That would help pinpoint your problem.

1234564lll commented 10 months ago

Could you share your configuration? That would help pinpoint your problem.

thanks,i have solved the previous questions, but i meet a new probloms,[ERROR] [1701099466.329398963, 1160.995000000]: Could not retrieve grid from map_server，i don't know how to deal with it