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utexas-bwi / eband_local_planner

ROS Local planner based on the eband approach. Based on the original implementation by Christian Connette and Bhaskara Marathi. This local planner has been adapted primarily for differential drive robots, but still supports the original holonomic drive controls.
http://wiki.ros.org/eband_local_planner
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EBand cannot avoid dynamically added obstacles in any path (global/local) #23

Open vmoysiadis opened 7 years ago

vmoysiadis commented 7 years ago

Good evening people and thanks for that stable planner. everything is working fine except the dynamically avoidance of an obstacle

what i do: Scenario 1) Using DWA for global planner and Eband for local planner Scenario 2) Using Eband for both global and local planner

i give a goal to the robot via rviz.Robot start moving smoothly. i add an obstacle via gazebo,on the global planner green line. i get warnings:

Calculation of Distance between bubble and nearest obstacle failed. Frame 24 of 203 in collision. Plan invalid [ WARN] [1500970819.269624973, 141.404900000]: Conversion from plan to elastic band failed. Plan probably not collision free. Plan not set for optimization [ WARN] [1500970819.670180554, 141.805300000]: Optimization failed - Band invalid - No controls availlable

robot is moving forward like there is no obstacle

any ideas ? thanks in advance

marine0131 commented 7 years ago

@vmoisiadis I meet the exactly the same problem, have you solved this? or anyone can help.

thanks in advance

vmoysiadis commented 6 years ago

yes, we implemented a feature of the navigation stack

vmoysiadis commented 6 years ago

if you want further information about it, feel fee to contact with me, my email is v.m.moisiadis@gmail.com

marine0131 commented 6 years ago

@vmoisiadis i am sorry that gmail said this email address v.m.moisiadis@gmail.com does not exist. can you correct your email adress? or you can send to me directly, my email is whj0131@gmail.com. thank you so much.

facontidavide commented 6 years ago

I am also having this problem... any update?

abhisheshpal commented 6 years ago

Hi everyone , I am also facing problem with Eband using dynamic obstacle. There had some discussion previously between @vmoisiadis and @marine0131 regarding the same. Guys can you help in dealing with dynamic obstacle for scenario Eband as local plan and DWA as global plan as I am also getting the warning as : Calculation of Distance between bubble and nearest obstacle failed. Frame 24 of 203 in collision. Plan invalid [ WARN] [1500970819.269624973, 141.404900000]: Conversion from plan to elastic band failed. Plan probably not collision free. Plan not set for optimization [ WARN] [1500970819.670180554, 141.805300000]: Optimization failed - Band invalid - No controls availlable

Thanks in advance !

maxsvetlik commented 4 years ago

@vmoysiadis if you have implemented a fix, would you care to talk about it on this Issue or submit a pull request?

JokerShao commented 4 years ago

same problem, anything update?

onurcankaraca commented 2 years ago

Any update?