Unable to understand the concept of localization parameters in Ros navigation stack
I am working on a bunker robot from Agilex. Below are my localization parameters. I have mapped the environment using Hector_slam package. I am working in outdoor environment and using Rplidar for scanning.
Base_local_planner_params.yaml
TrajectoryPlannerROS:
max_vel_x: 1.12
min_vel_x: 1.11
max_vel_theta: 0.05
min_vel_theta: -0.05
min_in_place_vel_theta: 0.05
acc_lim_theta: 0.07
acc_lim_x: 0.25
acc_lim_Y: 0.25
holonomic_robot: false
meter_scoring: true
xy_goal_tolerance: 0.15
yaw_goal_tolerance: 0.25
Costmap_common_params.yaml
obstacle_range: 3.0
raytrace_range: 3.5
publish frequency: 2.0
footprint: \[\[-0.105, -0.105\], \[-0.105, 0.105\], \[0.041, 0.105\], \[0.041, -0.105\]\]
robot_radius: 0.105
inflation_radius: 1.0
cost_scaling_factor: 3.0
transform_tolerance: 0.5
map_type: costmap
observation_sources: scan
scan: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
Global_costmap_params.yaml
global_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 0.5
static_map: true
Local_costmap_params.yaml
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 2.0
publish_frequency: 2.0
rolling_window: true
width: 5.0
height: 5.0
resolution: 0.05
Move_base_params.yaml
shutdown_costmaps: false
controller_frequency: 10.0
planner_patience: 5.0
controller_patience: 15.0
conservative_reset_dist: 3.0
planner_frequency: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
Questions:
- Robot only moves in a circle and is unable to decide the path where to go, as the path to the goal also changes very frequently
Error:[ WARN] [1667220609.416243921]: Rotate recovery behavior started.
- Is it a good idea to set the global frame to Odom instead of the map as I receive the following error too
[ERROR]: The goal pose passed to this planner must be in the Odom frame. It is instead in the map frame.
- As soon as the robot starts spinning(after I send the 2d nav goal), the map doesn't remain stationary and it weirdly moves all around the rviz
I receive also the following errors after setting the goal
- Control loop missed its desired rate of 10.0000Hz... the loop actually took 0.2142 seconds
- Costmap2DROS transform timeout. Current time: 1667223453.9988, global_pose stamp: 1667223453.4815, tolerance: 0.5000
- Clearing both costmaps outside a square (3.00m) large centered on the robot.
Kindly guide me on where I am coming short of achieving this autonomous driving of a robot using a navigation stack
Below I am attaching the rviz window
