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    机器人巡航过程中的Off Map问题

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    • weijiafeng
      weijiafeng last edited by

      最近用激光雷达+超声波的配置,基于DWA Planner做的定点巡航测试时,发现机器人能够顺利到达第一个目的地,但第二个目的地开始巡航不久之后终端便显示Off Map警告和Got New Plan,最后:

      [ INFO] [1558417522.391535270]: Got new plan
      [ WARN] [1558417522.445309688]: Off Map -9.047274, 3.753656
      [ WARN] [1558417522.445398351]: Off Map -9.035941, 3.792092
      [ WARN] [1558417522.617827475]: Off Map -8.999582, 3.749707
      [ WARN] [1558417522.619535975]: Off Map -8.977195, 3.737232
      。。。

      最后出现了error并撞玻璃了:

      [ WARN] [1558417532.499967676]: DWA planner failed to produce path.
      [ERROR] [1558417532.546289430]: Failed to get a plan.
      [ WARN] [1558417537.591407688]: Clearing costmap to unstuck robot (3.000000m).

      [ERROR] [1558417547.791319437]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
      [ERROR] [1558417547.811424]: Goal failed with error code:ABORTED

      想问下这个是不是行进过程中误差积累的问题?跟AMCL定位或者雷达的配置有关吗?如何解决呢?谢谢!

      weijiz 1 Reply Last reply Reply Quote 0
      • weijiz
        weijiz @weijiafeng last edited by

        @weijiafeng 在 机器人巡航过程中的Off Map问题 中说:

        想问下这个是不是行进过程中误差积累的问题?跟AMCL定位或者雷达的配置有关吗?如何解决呢?谢谢!

        应该是运动已经超出地图范围了吧

        1 Reply Last reply Reply Quote 0
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