Re: Robot stuck in it own footprint

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Robot-stuck-in-it-own-footprint-tp3301p3302.html

Hi,

If your robot is already on an obstacle, move_base won't let you plan a new trajectory. The obstacle on the robot are maybe the laser hitting the robot parts. You can filter the laser scans with laser_filters to remove valus below a fixed range (use LaserScanRangeFilter), removing obstacles seen on the robot.

You can also enable footprint clearing in the costmap parameters. Don't remember exactly the name of this parameter, but you can see it when launching rqt_reconfigure. However, if the robot really steps on an obstacle, it could continue to send commands toward it, which can be bad.

The question is "is rtabmap/goal_out" published? If not, look at the terminal for warnings/errors when you send a goal on /rtabmap/goal.

cheers