Navigation tuning #119
Merged
Navigation tuning #119
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
added 3 commits
August 15, 2017 15:13
- Using real transformation for sensor (now the pointcloud doesn't come from the ground) - Adjusting local costmap and planner parameters - Adding recovery behaviors (to be tested)
|
Update: the costmap parameters were adjusted and the navigation performance is better (e.g. the robot can pass through open doors without getting stuck and come back properly. It also avoids obstacles properly). There is still some issue with the recovery behaviors and clearing the costmaps; #118 is still open to track that in the future, but I think this improves the navigation up to a decent state already, and it can be merged after review. Note: these changes aim to give the local costmap and the local planner more priority over the global ones. As the maps are empty, the global planner won't do much, so it's better to give more importance to obstacle avoidance for now. @adamantivm ptal |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds recovery plugins (move_base output confirms that they are registered correctly).
It also improves navstack configuration a bit, and adjusts the height of the sensor (the pointcloud was displayed as if the sensor was at ground level).
Let's keep this PR open for a while; the costmaps aren't cleared properly in some situations just yet.