Comments (1)
After correcting the concurrency issues, another problem has arisen, namely delays in observation buffer
:
[ INFO] [1695212573.242417939, 21.616000000]: Full control cycle time: real {0.691746814}, sim {0.303000000}
[ WARN] [1695212573.242788599, 21.616000000]: The scan_narrow observation buffer has not been updated for 0.35 seconds, and it should be updated every 0.30 seconds.
[ WARN] [1695212573.513663161, 21.760000000]: [/move_base]:Sensor data is out of date, we're not going to allow commanding of the base for safety
[ INFO] [1695212573.513761709, 21.760000000]: Full control cycle time: real {0.000195441}, sim {0.000000000}
and the following loop execution does nothing (takes 0 ms as shown above).
The following code of the move_base
is responsible for not updating the costmap during the call to trajectory planner's computeVelocityCommands
: https://github.com/ros-planning/navigation/blob/9ad644198e132d0e950579a3bc72c29da46e60b0/move_base/src/move_base.cpp#L910
EDIT: Same happens with DWA. Couldn't observe in TEB (even at computation times at 500 ms).
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Related Issues (20)
- adjust `getPoseFromPlan` method of the planner HOT 1
- Goal pose gradually moved away by small distances does not get updated
- consider adding `SlowMovementCostFunction` HOT 5
- Update default parameter values in the `Config` struct according to the `dynamic_reconfigure` setup
- consider adding `ObstacleSeparationCostFunction` HOT 3
- consider assigning negative TTC cost to trajectories that will cause collision in the first prediction step
- do not switch state from `Adjust` to `Init` when the goal is closer than double `xy_tolerance` HOT 2
- `CostParams` struct cleanup
- try to improve a robot behaviour when entering narrow passages (e.g., doors)
- investigate source of invalid `relative location` in Trapezoids HOT 2
- unhandled case in `TrapezoidParted`
- consider copying objects of the sparse environment model to avoid using mutexes for the whole planning procedure HOT 3
- parameterize cost functions to evaluate the whole trajectory vs only the first step
- fix `ros::TimeNotInitializedException` in unit tests
- prepare Turtlebot example
- Add a recovery behaviour once the global plan has not been updated for N planning periods HOT 1
- consider extending the `PathCrossingDetector` with the analysis of the global path plan
- consider recalculating `occdist_scale` dynamically to increase the clearance from obstacles when the robot is far from the goal
- decouple prediction and planning
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