add footprint_clearing_padding to partially clear obstacles from footprint #105
add footprint_clearing_padding to partially clear obstacles from footprint #105Nisarg236 wants to merge 13 commits into
Conversation
simplescreenrecorder-2024-12-07_11.04.39.mp4I have tested this in simulation, see the above video |
Nisarg236
changed the title
renan028
left a comment
renan028
left a comment
There was a problem hiding this comment.
interesting issue.
Can you check if this gets fixed if we use supercover:
naturerobots/move_base_flex#322
You would need to change mbf branch and rebuild
This will not solve the issue completely because the robot will still rotate when the obstacle is just in front of it and cause collision, however it can improve the condition where sometimes the points are just outside the footprint and they are skipped in marking on the costmap. |
|
|
||
| reduced_footprint.push_back(new_point); | ||
| } | ||
| return reduced_footprint; |
There was a problem hiding this comment.
R: I think you should save the reduced footprint in the dynamic reconfigure call, so the computation of the new one is called only when you change the parameter (i.e, make this a member variable and in updateFootprint get it)
|
Staling for months |
5 participants
AB#19208
Dont ignore points that are near to the edge of the robot footprint for safety.
When the obstacle is very close to the robot, some part of the obstacle is inside the footprint and some is outside. The robot cannot move forward as the obstacle is just in front of it but it can rotate in place. As our robot footprint is not a circle, a part of it hits the obstacle when it rotates.