Hi guys I am running my robot in rosject both sim and real robot and he hit the objects in the middle when is goal is in front of him. spend a lot of time trying to fix it but still the same.
Hi @vladimir.berdibekov ,
Welcome to this Community!
I believe there is some issue with your programming.
Please provide more context as to what are you working on and what you are planning to achieve.
Tell us what you have done so far, if possible explain the behavior of the robot.
What the robot is doing versus what you want the robot to do.
That will help us provide you with a suitable solution.
Regards,
Girish
Hi, thank you so much for your help, Girishkumar Kannan, and for your response.
Apologies for not explaining my question well earlier. I’m currently working on a project from the “ROS2 Navigation in 5 Days” course. In this project, I created a map of the environment and have been localizing the robot. For navigation, I publish spots to the go_to_pose topic. I save these spots using the robot and spot_save function in a YAML file.
In RViz, I can see obstacles, including six objects in the middle of the map. When I send the robot to a location, it successfully moves and localizes itself after I click “Estimate Position.” However, my issue is that the robot hits obstacles when they are between the robot and the goal pose.
I do have the following plugins configured in my YAML file: [“static_layer”, “obstacle_layer”, “inflation_layer”]. I expected the obstacle_layer to help avoid these obstacles, but it doesn’t seem to be working.
Hi @vladimir.berdibekov ,
You need to play with the inflation zone variables to prevent the robot from hitting the obstacles or walls on the map. Improve the inflation zone scaling factor and radius.
Also try to experiment with the controller and planner yaml config file variables. Use reasonable values.
That should improve the obstacle avoidance behavior.
Regards,
Girish
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