robot cannot move if robot is facing obstacle

[jihoonl]

More information will be added.

• add rviz screen shot.

[jihoonl]

[ INFO] [1404781307.562121785]: New goal designated: 0.17, -0.14, -2.16
[ INFO] [1404781307.748864759]: Got new plan
[ WARN] [1404781307.758191302]: DWA planner failed to produce path.
[ INFO] [1404781308.748890175]: Got new plan
[ WARN] [1404781308.758575523]: DWA planner failed to produce path.
[ INFO] [1404781309.749243371]: Got new plan
[ WARN] [1404781309.759251050]: DWA planner failed to produce path.
[ INFO] [1404781310.748955622]: Got new plan
[ WARN] [1404781310.763132391]: DWA planner failed to produce path.
[ WARN] [1404781310.949143292]: Clearing costmap to unstuck robot.
[ INFO] [1404781311.748861759]: Got new plan
[ WARN] [1404781311.763231093]: DWA planner failed to produce path.
[ WARN] [1404781311.948867330]: Clearing costmap to unstuck robot.
[ INFO] [1404781312.748870839]: Got new plan
[ WARN] [1404781312.758532803]: DWA planner failed to produce path.
[ WARN] [1404781312.948863561]: Clearing costmap to unstuck robot.
[ INFO] [1404781313.748842598]: Got new plan
[ WARN] [1404781313.758296932]: DWA planner failed to produce path.
[ERROR] [1404781313.949168582]: Aborting because a valid control could not be found. Even after executing all recovery behaviors
[ WARN] [1404781315.130959815]: Kobuki : Incoming velocity commands not received for more than 0.60 seconds -> zero'ing velocity commands

Params

#### Warning! Many configurations are adopted from turtlebot_navigation default parameter

DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.35  #0.3  # 0.5
  min_vel_x: 0.0  # 0.0

  max_vel_y: 0.0  # diff drive robot
  min_vel_y: 0.0  # diff drive robot

  max_trans_vel: 0.5
  min_trans_vel: 0.1
  trans_stopped_vel: 0.1

  max_rot_vel: 5.0  # 1.0
  min_rot_vel: 0.6  # could set this lower
  rot_stopped_vel: 0.6

  acc_lim_x: 1.0
  acc_lim_theta: 2.0 # 1.0 
  acc_lim_y: 0.0      # diff drive robot

# Goal Tolerance Parameters
  yaw_goal_tolerance: 0.3  # 0.05
  xy_goal_tolerance: 0.15  # 0.10
  # latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.0       # 1.7
  vx_samples: 6       # 3
  vy_samples: 1       # diff drive robot
  vtheta_samples: 20  # 20

# Trajectory Scoring Parameters
  path_distance_bias: 64.0      # 32.0   - weighting for how much it should stick to the global path plan
  goal_distance_bias: 24.0      # 24.0   - wighting for how much it should attempt to reach its goal
  occdist_scale: 0.05           # 0.01   - weighting for how much the controller should avoid obstacles
  forward_point_distance: 0.325 # 0.325  - how far along to place an additional scoring point
  stop_time_buffer: 0.2         # 0.2    - amount of time a robot must stop in before colliding for a valid traj.
  scaling_speed: 0.25           # 0.25   - absolute velocity at which to start scaling the robot's footprint
  max_scaling_factor: 0.2       # 0.2    - how much to scale the robot's footprint when at speed.

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05  # 0.05   - how far to travel before resetting oscillation flags

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
  global_frame_id: odom


# Differential-drive robot configuration - necessary?
#  holonomic_robot: false