maskor / maskor_navigation Goto Github PK

Greetings,
I am trying to setup sbpl+teb in stage simulation setup. I am using cfg/diff_drive configuration files as supplied with the code.
I found that robot has higher preference for making backward movements to align robot along the planned global path. Even in place rotation is not prefered for differential drive robot.

I have tried changing the parameter weight_kinematics_forward_drive to higher value. This influences trajectory selection but robot still makes in place back ward movements to correct its heading.

I have also observed that robot gets stuck in a loop at tight places to achieve its goal configuration.
Is this behaviour expected? If not, how can I improve it.

Thanks
Nitin

Error: expected constructor, destructor, or type conversion.

Hello,

I am using sbpl_lattice_planner and teb_local_planner for my project. How should I add this teb_local_planner to sbpl_lattice_planner,and I use gazebo simulation environment. Which launch file should I use ?

I've run the demo of the sbpl_lattice planner ,it works. And i want to make it as the global planner of the move_base.launch of the husky navigation. However ,there're some errors as bellow:

[ERROR] [1537176333.433338887, 1300.390000000]: SBPL encountered a fatal exception: SBPL has encountered a fatal error!
[ERROR] [1537176333.433464289, 1300.390000000]: SBPL initialization failed!
[move_base-4] process has died [pid 16785, exit code 1, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/elen/.ros/log/5965829a-ba52-11e8-95d2-f894c2bd038a/move_base-4.log].
log file: /home/elen/.ros/log/5965829a-ba52-11e8-95d2-f894c2bd038a/move_base-4*.log

Perhaps the .mprim file i need to write it of Husky as you did of Rover. Right now, i do not know what i should do in the next step . I hope you can give me some suggestions.

So I saw this question and answer from ros answers.

You can view a working version for indigo here: https://github.com/MASKOR/maskor_navi...

Make sure you use both the sbpl and sbpl_lattice_planner from source from that repo, as the normal sbpl does not link libraries correctly for sbpl_lattice_planner use

I uninstalled the debian package that I installed (ros-indigo-sbpl), to avoid any errors that could have been caused because of duplicates. And I followed the instructions from sbpl/sbpl repo to install this package. There were some errors. Then I tried to install by catkin_make install --pkg sbpl after realising it is a catkin_package. This shows the following error.

abinashmeher999@JARVIS:~/agv$ catkin_make install --pkg sbpl
Base path: /home/abinashmeher999/agv
Source space: /home/abinashmeher999/agv/src
Build space: /home/abinashmeher999/agv/build
Devel space: /home/abinashmeher999/agv/devel
Install space: /home/abinashmeher999/agv/install
####
#### Running command: "make cmake_check_build_system" in "/home/abinashmeher999/agv/build"
####
####
#### Running command: "make install -j4 -l4" in "/home/abinashmeher999/agv/build/maskor_navigation/sbpl"
####
[100%] Built target sbpl
Install the project...
-- Install configuration: "Debug"
-- Installing: /home/abinashmeher999/agv/install/lib/pkgconfig/sbpl.pc
-- Installing: /home/abinashmeher999/agv/install/share/sbpl/cmake/sbplConfig.cmake
-- Installing: /home/abinashmeher999/agv/install/share/sbpl/cmake/sbplConfig-version.cmake
-- Installing: /home/abinashmeher999/agv/install/share/sbpl/package.xml
CMake Error at cmake_install.cmake:51 (FILE):
  file INSTALL cannot find
  "/home/abinashmeher999/agv/src/maskor_navigation/sbpl/InstallFiles/sbpl.pc".


make: *** [install] Error 1
Invoking "make install -j4 -l4" failed

Can you please give some clear instructions on what the answer meant.