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IWR6843: IWR6843 ISK ES1.0: autonavigation issue

user6187576
Intellectual 385 points
Part Number: IWR6843

i have done a mapping using mmwave sensor for my TurtleBot2 robot.

but when i do autonavigation, robot is not moving after give 2d nav goal. pls help.

screenshot attached for the reference

Log as below

--------------------------------------------------

cloud@cloud-Latitude-5400:~$ roslaunch turtlebot_mmwave_launchers radar_navigation.launch
... logging to /home/cloud/.ros/log/d59dd780-02d7-11ea-a12a-c0b5d7b3b701/roslaunch-cloud-Latitude-5400-3298.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.11.97.192:37905/

SUMMARY
========

PARAMETERS
* /fake_localization/use_map_topic: True
* /i_filt/filter_field_name: intensity
* /i_filt/filter_limit_max: 100
* /i_filt/filter_limit_min: 8
* /i_filt/filter_limit_negative: False
* /move_base/DWAPlannerROS/acc_lim_theta: 2.0
* /move_base/DWAPlannerROS/acc_lim_x: 2.0
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.12
* /move_base/DWAPlannerROS/global_frame_id: odom
* /move_base/DWAPlannerROS/goal_distance_bias: 0.01
* /move_base/DWAPlannerROS/holonomic_robot: False
* /move_base/DWAPlannerROS/latch_xy_goal_tolerance: True
* /move_base/DWAPlannerROS/max_rot_vel: 2.0
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_trans_vel: 0.5
* /move_base/DWAPlannerROS/max_vel_x: 0.2
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_rot_vel: 0.4
* /move_base/DWAPlannerROS/min_trans_vel: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.01
* /move_base/DWAPlannerROS/oscillation_reset_angle: 0.0
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.0
* /move_base/DWAPlannerROS/path_distance_bias: 32.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 1.7
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/trans_stopped_vel: 0.05
* /move_base/DWAPlannerROS/vtheta_samples: 20
* /move_base/DWAPlannerROS/vx_samples: 3
* /move_base/DWAPlannerROS/vy_samples: 0
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.17
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.4
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/cost_factor: 3.0
* /move_base/GlobalPlanner/default_tolerance: 0.0
* /move_base/GlobalPlanner/lethal_cost: 253
* /move_base/GlobalPlanner/neutral_cost: 66
* /move_base/GlobalPlanner/old_navfn_behavior: False
* /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
* /move_base/GlobalPlanner/planner_window_x: 0.0
* /move_base/GlobalPlanner/planner_window_y: 0.0
* /move_base/GlobalPlanner/publish_potential: True
* /move_base/GlobalPlanner/publish_scale: 100
* /move_base/GlobalPlanner/use_dijkstra: True
* /move_base/GlobalPlanner/use_grid_path: False
* /move_base/GlobalPlanner/use_quadratic: True
* /move_base/NavfnROS/allow_unknown: False
* /move_base/NavfnROS/default_tolerance: 0.0
* /move_base/NavfnROS/planner_window_x: 0.0
* /move_base/NavfnROS/planner_window_y: 0.0
* /move_base/NavfnROS/visualize_potential: False
* /move_base/aggressive_reset/layer_names: ['obstacle_layer']
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/conservative_reset/layer_names: ['obstacle_layer']
* /move_base/controller_frequency: 5.0
* /move_base/controller_patience: 3.0
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/height: 10.0
* /move_base/global_costmap/inflation_layer/cost_scaling_factor: 9.8
* /move_base/global_costmap/inflation_layer/enabled: True
* /move_base/global_costmap/inflation_layer/inflation_radius: 0.37
* /move_base/global_costmap/map_type: voxel
* /move_base/global_costmap/max_obstacle_height: 1
* /move_base/global_costmap/obstacle_layer/bump/clearing: False
* /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2
* /move_base/global_costmap/obstacle_layer/bump/marking: True
* /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
* /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
* /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso...
* /move_base/global_costmap/obstacle_layer/combination_method: 1
* /move_base/global_costmap/obstacle_layer/enabled: True
* /move_base/global_costmap/obstacle_layer/mark_threshold: 2
* /move_base/global_costmap/obstacle_layer/max_obstacle_height: 1
* /move_base/global_costmap/obstacle_layer/observation_sources: scan bump
* /move_base/global_costmap/obstacle_layer/obstacle_range: 1.0
* /move_base/global_costmap/obstacle_layer/origin_z: 0.0
* /move_base/global_costmap/obstacle_layer/publish_voxel_map: True
* /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0
* /move_base/global_costmap/obstacle_layer/scan/clearing: False
* /move_base/global_costmap/obstacle_layer/scan/data_type: PointCloud2
* /move_base/global_costmap/obstacle_layer/scan/marking: True
* /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 1
* /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.0
* /move_base/global_costmap/obstacle_layer/scan/topic: xyzi_filt_out
* /move_base/global_costmap/obstacle_layer/track_unknown_space: True
* /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/global_costmap/obstacle_layer/z_resolution: 0.015
* /move_base/global_costmap/obstacle_layer/z_voxels: 16
* /move_base/global_costmap/plugins: [{'type': 'costma...
* /move_base/global_costmap/publish_frequency: 5
* /move_base/global_costmap/resolution: 0.02
* /move_base/global_costmap/robot_base_frame: base_footprint
* /move_base/global_costmap/robot_radius: 0.18
* /move_base/global_costmap/rolling_window: True
* /move_base/global_costmap/static_layer/enabled: True
* /move_base/global_costmap/static_map: False
* /move_base/global_costmap/transform_tolerance: 10
* /move_base/global_costmap/update_frequency: 15
* /move_base/global_costmap/width: 10.0
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 4.0
* /move_base/local_costmap/inflation_layer/cost_scaling_factor: 8.0
* /move_base/local_costmap/inflation_layer/enabled: True
* /move_base/local_costmap/inflation_layer/inflation_radius: 0.22
* /move_base/local_costmap/map_type: voxel
* /move_base/local_costmap/max_obstacle_height: 1
* /move_base/local_costmap/obstacle_layer/bump/clearing: False
* /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2
* /move_base/local_costmap/obstacle_layer/bump/marking: True
* /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
* /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
* /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
* /move_base/local_costmap/obstacle_layer/combination_method: 1
* /move_base/local_costmap/obstacle_layer/enabled: True
* /move_base/local_costmap/obstacle_layer/mark_threshold: 2
* /move_base/local_costmap/obstacle_layer/max_obstacle_height: 1
* /move_base/local_costmap/obstacle_layer/observation_sources: scan bump
* /move_base/local_costmap/obstacle_layer/obstacle_range: 1.0
* /move_base/local_costmap/obstacle_layer/origin_z: 0.0
* /move_base/local_costmap/obstacle_layer/publish_voxel_map: True
* /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
* /move_base/local_costmap/obstacle_layer/scan/clearing: False
* /move_base/local_costmap/obstacle_layer/scan/data_type: PointCloud2
* /move_base/local_costmap/obstacle_layer/scan/marking: True
* /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 1
* /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.0
* /move_base/local_costmap/obstacle_layer/scan/topic: xyzi_filt_out
* /move_base/local_costmap/obstacle_layer/track_unknown_space: True
* /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/local_costmap/obstacle_layer/z_resolution: 0.015
* /move_base/local_costmap/obstacle_layer/z_voxels: 16
* /move_base/local_costmap/plugins: [{'type': 'costma...
* /move_base/local_costmap/publish_frequency: 10
* /move_base/local_costmap/resolution: 0.02
* /move_base/local_costmap/robot_base_frame: base_footprint
* /move_base/local_costmap/robot_radius: 0.18
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_layer/enabled: True
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/transform_tolerance: 1
* /move_base/local_costmap/update_frequency: 20
* /move_base/local_costmap/width: 4.0
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 0.0
* /move_base/planner_frequency: 1.0
* /move_base/planner_patience: 5.0
* /move_base/recovery_behavior_enabled: True
* /move_base/recovery_behaviors: [{'type': 'rotate...
* /move_base/shutdown_costmaps: False
* /navigation_velocity_smoother/accel_lim_v: 1.0
* /navigation_velocity_smoother/accel_lim_w: 2.0
* /navigation_velocity_smoother/decel_factor: 1.5
* /navigation_velocity_smoother/frequency: 20.0
* /navigation_velocity_smoother/robot_feedback: 2
* /navigation_velocity_smoother/speed_lim_v: 0.8
* /navigation_velocity_smoother/speed_lim_w: 5.4
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /x_filt/filter_field_name: x
* /x_filt/filter_limit_max: 4
* /x_filt/filter_limit_min: 0.1
* /x_filt/filter_limit_negative: False
* /y_filt/filter_field_name: y
* /y_filt/filter_limit_max: 3
* /y_filt/filter_limit_min: -3
* /y_filt/filter_limit_negative: False
* /z_filt/filter_field_name: z
* /z_filt/filter_limit_max: 0.1
* /z_filt/filter_limit_min: -0.4
* /z_filt/filter_limit_negative: False

NODES
/
fake_localization (fake_localization/fake_localization)
i_filt (nodelet/nodelet)
kobuki_safety_controller (nodelet/nodelet)
move_base (move_base/move_base)
navigation_velocity_smoother (nodelet/nodelet)
octomap_server (octomap_server/octomap_server_node)
pcl_manager (nodelet/nodelet)
voxel_grid_2_point_cloud (costmap_2d/costmap_2d_cloud)
x_filt (nodelet/nodelet)
y_filt (nodelet/nodelet)
z_filt (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[pcl_manager-1]: started with pid [3315]
process[x_filt-2]: started with pid [3316]
process[y_filt-3]: started with pid [3317]
process[z_filt-4]: started with pid [3318]
[ INFO] [1573293678.421547401]: Loading nodelet /x_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
[ INFO] [1573293678.421621694]: /x_filt/input -> /mmWaveDataHdl/RScan
[ INFO] [1573293678.421640935]: /x_filt/output -> /x_filt_out
[ INFO] [1573293678.425135224]: waitForService: Service [/pcl_manager/load_nodelet] has not been advertised, waiting...
process[i_filt-5]: started with pid [3330]
[ INFO] [1573293678.428230912]: Loading nodelet /y_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
[ INFO] [1573293678.428309847]: /y_filt/input -> /x_filt_out
[ INFO] [1573293678.428328750]: /y_filt/output -> /xy_filt_out
[ INFO] [1573293678.430477707]: waitForService: Service [/pcl_manager/load_nodelet] has not been advertised, waiting...
process[octomap_server-6]: started with pid [3346]
[ INFO] [1573293678.435852683]: Loading nodelet /z_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
[ INFO] [1573293678.435908816]: /z_filt/input -> /xy_filt_out
[ INFO] [1573293678.435927026]: /z_filt/output -> /xyz_filt_out
[ INFO] [1573293678.439040116]: waitForService: Service [/pcl_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1573293678.441398884]: Loading nodelet /i_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
[ INFO] [1573293678.441474185]: /i_filt/input -> /xyz_filt_out
[ INFO] [1573293678.441507341]: /i_filt/output -> /xyzi_filt_out
process[fake_localization-7]: started with pid [3364]
[ INFO] [1573293678.443363048]: waitForService: Service [/pcl_manager/load_nodelet] has not been advertised, waiting...
process[navigation_velocity_smoother-8]: started with pid [3374]
process[kobuki_safety_controller-9]: started with pid [3377]
process[move_base-10]: started with pid [3400]
process[voxel_grid_2_point_cloud-11]: started with pid [3409]
[ INFO] [1573293678.480839642]: Initializing nodelet with 8 worker threads.
[ INFO] [1573293678.484772026]: waitForService: Service [/pcl_manager/load_nodelet] is now available.
[ INFO] [1573293678.488363093]: waitForService: Service [/pcl_manager/load_nodelet] is now available.
[ INFO] [1573293678.492922238]: waitForService: Service [/pcl_manager/load_nodelet] is now available.
[ INFO] [1573293678.499189878]: waitForService: Service [/pcl_manager/load_nodelet] is now available.
Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 1.57329e+09 according to authority unknown_publisher
Possible reasons are listed at wiki.ros.org/.../Errors explained
at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 1.57329e+09 according to authority unknown_publisher
Possible reasons are listed at wiki.ros.org/.../Errors explained
at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
[ INFO] [1573293678.876806211]: Using plugin "static_layer"
[ INFO] [1573293678.903452960]: Requesting the map...
[ INFO] [1573293679.115512139]: Resizing static layer to 180 X 135 at 0.050000 m/pix
[ INFO] [1573293679.215410299]: Received a 180 X 135 map at 0.050000 m/pix
[ INFO] [1573293679.231011084]: Using plugin "obstacle_layer"
[ INFO] [1573293679.240631537]: Subscribed to Topics: scan bump
[ INFO] [1573293679.393936018]: Using plugin "inflation_layer"
[ INFO] [1573293679.470907625]: Using plugin "static_layer"
[ INFO] [1573293679.474795601]: Requesting the map...
[ INFO] [1573293679.477254075]: Resizing static layer to 180 X 135 at 0.050000 m/pix
[ INFO] [1573293679.577510527]: Received a 180 X 135 map at 0.050000 m/pix
[ INFO] [1573293679.592208927]: Using plugin "obstacle_layer"
[ INFO] [1573293679.601962543]: Subscribed to Topics: scan bump
[ INFO] [1573293679.694987542]: Using plugin "inflation_layer"
[ INFO] [1573293679.773467360]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1573293679.781723800]: Sim period is set to 0.20
[ INFO] [1573293680.024236377]: odom received!

[ WARN] [1573293722.883955515]: mmWave customized rotate recovery behavior started.
[ WARN] [1573293722.884169656]: Clearing costmaps...
[ WARN] [1573293722.929972133]: Performing rotation...
[ERROR] [1573293722.980195057]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ WARN] [1573293722.980348859]: mmWave customized rotate recovery behavior started.
[ WARN] [1573293722.980364617]: Clearing costmaps...
[ WARN] [1573293723.007984914]: Performing rotation...
[ERROR] [1573293723.008141085]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ WARN] [1573293728.284014011]: mmWave customized rotate recovery behavior started.
[ WARN] [1573293728.284053459]: Clearing costmaps...
[ WARN] [1573293728.387102682]: Performing rotation...
[ERROR] [1573293728.437354675]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ERROR] [1573293733.684170303]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

  • 0
    TI__Mastermind 33805 points

    Hi,

    From the log it you have positioned the robot at a starting point where it cannot rotate due to obstacles.

    Can you try a different starting point?

    Charles O

  • 0 in reply to Charles Oladimeji
    Intellectual 385 points

    Hi Charles,

    I tried a different starting point, even manual remote control robot turns around and moves forward, but test staill fail: robot could  not be moving after give 2d nav goal.

    ... logging to /home/cloud/.ros/log/285215aa-046c-11ea-a12a-c0b5d7b3b701/roslaunch-cloud-Latitude-5400-12700.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.
    started roslaunch server http://10.11.97.192:40741/
    SUMMARY
    ========
    PARAMETERS
     * /fake_localization/use_map_topic: True
     * /i_filt/filter_field_name: intensity
     * /i_filt/filter_limit_max: 100
     * /i_filt/filter_limit_min: 8
     * /i_filt/filter_limit_negative: False
     * /move_base/DWAPlannerROS/acc_lim_theta: 2.0
     * /move_base/DWAPlannerROS/acc_lim_x: 2.0
     * /move_base/DWAPlannerROS/acc_lim_y: 0.0
     * /move_base/DWAPlannerROS/forward_point_distance: 0.12
     * /move_base/DWAPlannerROS/global_frame_id: odom
     * /move_base/DWAPlannerROS/goal_distance_bias: 0.01
     * /move_base/DWAPlannerROS/holonomic_robot: False
     * /move_base/DWAPlannerROS/latch_xy_goal_tolerance: True
     * /move_base/DWAPlannerROS/max_rot_vel: 2.0
     * /move_base/DWAPlannerROS/max_scaling_factor: 0.2
     * /move_base/DWAPlannerROS/max_trans_vel: 0.5
     * /move_base/DWAPlannerROS/max_vel_x: 0.2
     * /move_base/DWAPlannerROS/max_vel_y: 0.0
     * /move_base/DWAPlannerROS/min_rot_vel: 0.4
     * /move_base/DWAPlannerROS/min_trans_vel: 0.1
     * /move_base/DWAPlannerROS/min_vel_x: 0.0
     * /move_base/DWAPlannerROS/min_vel_y: 0.0
     * /move_base/DWAPlannerROS/occdist_scale: 0.01
     * /move_base/DWAPlannerROS/oscillation_reset_angle: 0.0
     * /move_base/DWAPlannerROS/oscillation_reset_dist: 0.0
     * /move_base/DWAPlannerROS/path_distance_bias: 32.0
     * /move_base/DWAPlannerROS/publish_cost_grid_pc: True
     * /move_base/DWAPlannerROS/publish_traj_pc: True
     * /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
     * /move_base/DWAPlannerROS/scaling_speed: 0.25
     * /move_base/DWAPlannerROS/sim_time: 1.7
     * /move_base/DWAPlannerROS/stop_time_buffer: 0.2
     * /move_base/DWAPlannerROS/trans_stopped_vel: 0.05
     * /move_base/DWAPlannerROS/vtheta_samples: 20
     * /move_base/DWAPlannerROS/vx_samples: 3
     * /move_base/DWAPlannerROS/vy_samples: 0
     * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.17
     * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.4
     * /move_base/GlobalPlanner/allow_unknown: True
     * /move_base/GlobalPlanner/cost_factor: 3.0
     * /move_base/GlobalPlanner/default_tolerance: 0.0
     * /move_base/GlobalPlanner/lethal_cost: 253
     * /move_base/GlobalPlanner/neutral_cost: 66
     * /move_base/GlobalPlanner/old_navfn_behavior: False
     * /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
     * /move_base/GlobalPlanner/planner_window_x: 0.0
     * /move_base/GlobalPlanner/planner_window_y: 0.0
     * /move_base/GlobalPlanner/publish_potential: True
     * /move_base/GlobalPlanner/publish_scale: 100
     * /move_base/GlobalPlanner/use_dijkstra: True
     * /move_base/GlobalPlanner/use_grid_path: False
     * /move_base/GlobalPlanner/use_quadratic: True
     * /move_base/NavfnROS/allow_unknown: False
     * /move_base/NavfnROS/default_tolerance: 0.0
     * /move_base/NavfnROS/planner_window_x: 0.0
     * /move_base/NavfnROS/planner_window_y: 0.0
     * /move_base/NavfnROS/visualize_potential: False
     * /move_base/aggressive_reset/layer_names: ['obstacle_layer']
     * /move_base/base_global_planner: navfn/NavfnROS
     * /move_base/base_local_planner: dwa_local_planner...
     * /move_base/conservative_reset/layer_names: ['obstacle_layer']
     * /move_base/controller_frequency: 5.0
     * /move_base/controller_patience: 3.0
     * /move_base/global_costmap/global_frame: map
     * /move_base/global_costmap/height: 10.0
     * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 9.8
     * /move_base/global_costmap/inflation_layer/enabled: True
     * /move_base/global_costmap/inflation_layer/inflation_radius: 0.37
     * /move_base/global_costmap/map_type: voxel
     * /move_base/global_costmap/max_obstacle_height: 1
     * /move_base/global_costmap/obstacle_layer/bump/clearing: False
     * /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2
     * /move_base/global_costmap/obstacle_layer/bump/marking: True
     * /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
     * /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
     * /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso...
     * /move_base/global_costmap/obstacle_layer/combination_method: 1
     * /move_base/global_costmap/obstacle_layer/enabled: True
     * /move_base/global_costmap/obstacle_layer/mark_threshold: 2
     * /move_base/global_costmap/obstacle_layer/max_obstacle_height: 1
     * /move_base/global_costmap/obstacle_layer/observation_sources: scan bump
     * /move_base/global_costmap/obstacle_layer/obstacle_range: 1.0
     * /move_base/global_costmap/obstacle_layer/origin_z: 0.0
     * /move_base/global_costmap/obstacle_layer/publish_voxel_map: True
     * /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0
     * /move_base/global_costmap/obstacle_layer/scan/clearing: False
     * /move_base/global_costmap/obstacle_layer/scan/data_type: PointCloud2
     * /move_base/global_costmap/obstacle_layer/scan/marking: True
     * /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 1
     * /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.0
     * /move_base/global_costmap/obstacle_layer/scan/topic: xyzi_filt_out
     * /move_base/global_costmap/obstacle_layer/track_unknown_space: True
     * /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
     * /move_base/global_costmap/obstacle_layer/z_resolution: 0.015
     * /move_base/global_costmap/obstacle_layer/z_voxels: 16
     * /move_base/global_costmap/plugins: [{'type': 'costma...
     * /move_base/global_costmap/publish_frequency: 5
     * /move_base/global_costmap/resolution: 0.02
     * /move_base/global_costmap/robot_base_frame: base_footprint
     * /move_base/global_costmap/robot_radius: 0.18
     * /move_base/global_costmap/rolling_window: True
     * /move_base/global_costmap/static_layer/enabled: True
     * /move_base/global_costmap/static_map: True
     * /move_base/global_costmap/transform_tolerance: 10
     * /move_base/global_costmap/update_frequency: 15
     * /move_base/global_costmap/width: 10.0
     * /move_base/local_costmap/global_frame: odom
     * /move_base/local_costmap/height: 4.0
     * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 8.0
     * /move_base/local_costmap/inflation_layer/enabled: True
     * /move_base/local_costmap/inflation_layer/inflation_radius: 0.22
     * /move_base/local_costmap/map_type: voxel
     * /move_base/local_costmap/max_obstacle_height: 1
     * /move_base/local_costmap/obstacle_layer/bump/clearing: False
     * /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2
     * /move_base/local_costmap/obstacle_layer/bump/marking: True
     * /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
     * /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
     * /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
     * /move_base/local_costmap/obstacle_layer/combination_method: 1
     * /move_base/local_costmap/obstacle_layer/enabled: True
     * /move_base/local_costmap/obstacle_layer/mark_threshold: 2
     * /move_base/local_costmap/obstacle_layer/max_obstacle_height: 1
     * /move_base/local_costmap/obstacle_layer/observation_sources: scan bump
     * /move_base/local_costmap/obstacle_layer/obstacle_range: 1.0
     * /move_base/local_costmap/obstacle_layer/origin_z: 0.0
     * /move_base/local_costmap/obstacle_layer/publish_voxel_map: True
     * /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
     * /move_base/local_costmap/obstacle_layer/scan/clearing: False
     * /move_base/local_costmap/obstacle_layer/scan/data_type: PointCloud2
     * /move_base/local_costmap/obstacle_layer/scan/marking: True
     * /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 1
     * /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.0
     * /move_base/local_costmap/obstacle_layer/scan/topic: xyzi_filt_out
     * /move_base/local_costmap/obstacle_layer/track_unknown_space: True
     * /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
     * /move_base/local_costmap/obstacle_layer/z_resolution: 0.015
     * /move_base/local_costmap/obstacle_layer/z_voxels: 16
     * /move_base/local_costmap/plugins: [{'type': 'costma...
     * /move_base/local_costmap/publish_frequency: 10
     * /move_base/local_costmap/resolution: 0.02
     * /move_base/local_costmap/robot_base_frame: base_footprint
     * /move_base/local_costmap/robot_radius: 0.18
     * /move_base/local_costmap/rolling_window: True
     * /move_base/local_costmap/static_layer/enabled: True
     * /move_base/local_costmap/static_map: True
     * /move_base/local_costmap/transform_tolerance: 1
     * /move_base/local_costmap/update_frequency: 20
     * /move_base/local_costmap/width: 4.0
     * /move_base/oscillation_distance: 0.2
     * /move_base/oscillation_timeout: 0.0
     * /move_base/planner_frequency: 1.0
     * /move_base/planner_patience: 5.0
     * /move_base/recovery_behavior_enabled: True
     * /move_base/recovery_behaviors: [{'type': 'rotate...
     * /move_base/shutdown_costmaps: False
     * /navigation_velocity_smoother/accel_lim_v: 1.0
     * /navigation_velocity_smoother/accel_lim_w: 2.0
     * /navigation_velocity_smoother/decel_factor: 1.5
     * /navigation_velocity_smoother/frequency: 20.0
     * /navigation_velocity_smoother/robot_feedback: 2
     * /navigation_velocity_smoother/speed_lim_v: 0.8
     * /navigation_velocity_smoother/speed_lim_w: 5.4
     * /rosdistro: kinetic
     * /rosversion: 1.12.14
     * /x_filt/filter_field_name: x
     * /x_filt/filter_limit_max: 4
     * /x_filt/filter_limit_min: 0.1
     * /x_filt/filter_limit_negative: False
     * /y_filt/filter_field_name: y
     * /y_filt/filter_limit_max: 3
     * /y_filt/filter_limit_min: -3
     * /y_filt/filter_limit_negative: False
     * /z_filt/filter_field_name: z
     * /z_filt/filter_limit_max: 0.1
     * /z_filt/filter_limit_min: -0.4
     * /z_filt/filter_limit_negative: False
    NODES
      /
        fake_localization (fake_localization/fake_localization)
        i_filt (nodelet/nodelet)
        kobuki_safety_controller (nodelet/nodelet)
        move_base (move_base/move_base)
        navigation_velocity_smoother (nodelet/nodelet)
        octomap_server (octomap_server/octomap_server_node)
        pcl_manager (nodelet/nodelet)
        voxel_grid_2_point_cloud (costmap_2d/costmap_2d_cloud)
        x_filt (nodelet/nodelet)
        y_filt (nodelet/nodelet)
        z_filt (nodelet/nodelet)
    ROS_MASTER_URI=http://localhost:11311
    process[pcl_manager-1]: started with pid [12717]
    process[x_filt-2]: started with pid [12718]
    process[y_filt-3]: started with pid [12719]
    process[z_filt-4]: started with pid [12720]
    [ INFO] [1573467348.823041387]: Loading nodelet /x_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
    [ INFO] [1573467348.823093438]: /x_filt/input -> /mmWaveDataHdl/RScan
    [ INFO] [1573467348.823108521]: /x_filt/output -> /x_filt_out
    [ INFO] [1573467348.825592601]: waitForService: Service [/pcl_manager/load_nodelet] has not been advertised, waiting...
    process[i_filt-5]: started with pid [12733]
    [ INFO] [1573467348.827598715]: Loading nodelet /y_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
    [ INFO] [1573467348.827649298]: /y_filt/input -> /x_filt_out
    [ INFO] [1573467348.827660282]: /y_filt/output -> /xy_filt_out
    [ INFO] [1573467348.829429312]: waitForService: Service [/pcl_manager/load_nodelet] has not been advertised, waiting...
    process[octomap_server-6]: started with pid [12748]
    [ INFO] [1573467348.833590406]: Loading nodelet /z_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
    [ INFO] [1573467348.833639571]: /z_filt/input -> /xy_filt_out
    [ INFO] [1573467348.833654524]: /z_filt/output -> /xyz_filt_out
    [ INFO] [1573467348.835429248]: waitForService: Service [/pcl_manager/load_nodelet] has not been advertised, waiting...
    process[fake_localization-7]: started with pid [12766]
    [ INFO] [1573467348.837920858]: Loading nodelet /i_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
    [ INFO] [1573467348.837972277]: /i_filt/input -> /xyz_filt_out
    [ INFO] [1573467348.837987828]: /i_filt/output -> /xyzi_filt_out
    process[navigation_velocity_smoother-8]: started with pid [12774]
    [ INFO] [1573467348.843901094]: waitForService: Service [/pcl_manager/load_nodelet] has not been advertised, waiting...
    process[kobuki_safety_controller-9]: started with pid [12777]
    process[move_base-10]: started with pid [12786]
    process[voxel_grid_2_point_cloud-11]: started with pid [12803]
    [ INFO] [1573467348.867921713]: Initializing nodelet with 8 worker threads.
    [ INFO] [1573467348.875484755]: waitForService: Service [/pcl_manager/load_nodelet] is now available.
    [ INFO] [1573467348.880693791]: waitForService: Service [/pcl_manager/load_nodelet] is now available.
    [ INFO] [1573467348.887326833]: waitForService: Service [/pcl_manager/load_nodelet] is now available.
    [ INFO] [1573467348.890706236]: waitForService: Service [/pcl_manager/load_nodelet] is now available.
    Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 1.57347e+09 according to authority unknown_publisher
    Possible reasons are listed at wiki.ros.org/.../Errors explained
             at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
    [ INFO] [1573467349.283131381]: Using plugin "static_layer"
    [ INFO] [1573467349.302406982]: Requesting the map...
    [ INFO] [1573467349.512180970]: Resizing static layer to 180 X 135 at 0.050000 m/pix
    [ INFO] [1573467349.612087345]: Received a 180 X 135 map at 0.050000 m/pix
    [ INFO] [1573467349.627321883]: Using plugin "obstacle_layer"
    [ INFO] [1573467349.635896245]:     Subscribed to Topics: scan bump
    [ INFO] [1573467349.719548725]: Using plugin "inflation_layer"
    [ INFO] [1573467349.793173202]: Using plugin "static_layer"
    [ INFO] [1573467349.798185038]: Requesting the map...
    [ INFO] [1573467349.801197885]: Resizing static layer to 180 X 135 at 0.050000 m/pix
    [ INFO] [1573467349.901298106]: Received a 180 X 135 map at 0.050000 m/pix
    [ INFO] [1573467349.913379525]: Using plugin "obstacle_layer"
    [ INFO] [1573467349.921570140]:     Subscribed to Topics: scan bump
    [ INFO] [1573467350.075117375]: Using plugin "inflation_layer"
    [ INFO] [1573467350.122371370]: Created local_planner dwa_local_planner/DWAPlannerROS
    [ INFO] [1573467350.127628293]: Sim period is set to 0.20
    [ INFO] [1573467350.342803461]: odom received!
    // First time: Give 2d nav goal, robot is  not be moving.
    [ WARN] [1573467418.498814968]: mmWave customized rotate recovery behavior started.
    [ WARN] [1573467418.498884498]: Clearing costmaps...
    [ WARN] [1573467418.532838113]: Performing rotation...
    [ERROR] [1573467418.583032844]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
    [ WARN] [1573467418.583232716]: mmWave customized rotate recovery behavior started.
    [ WARN] [1573467418.583267861]: Clearing costmaps...
    [ WARN] [1573467418.610036866]: Performing rotation...
    [ERROR] [1573467418.610223994]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
    [ WARN] [1573467423.898924799]: mmWave customized rotate recovery behavior started.
    [ WARN] [1573467423.898966366]: Clearing costmaps...
    [ WARN] [1573467423.928785875]: Performing rotation...
    [ERROR] [1573467423.979138975]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
    [ERROR] [1573467429.298928264]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
    // Manual remote control robot turns around and moves forward.
    // Give 2d nav goal, robot is  not be moving.
    [ WARN] [1573467453.101805272]: mmWave customized rotate recovery behavior started.
    [ WARN] [1573467453.102089484]: Clearing costmaps...
    [ WARN] [1573467453.174696726]: Performing rotation...
    [ERROR] [1573467453.174973349]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
    [ INFO] [1573467453.175085027]: Got new plan
    [ WARN] [1573467453.180995704]: DWA planner failed to produce path.
    [ WARN] [1573467458.501877070]: mmWave customized rotate recovery behavior started.
    [ WARN] [1573467458.502006272]: Clearing costmaps...
    [ WARN] [1573467458.583919291]: Performing rotation...
    [ERROR] [1573467458.584057700]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
    [ WARN] [1573467463.901724782]: mmWave customized rotate recovery behavior started.
    [ WARN] [1573467463.901769604]: Clearing costmaps...
    [ WARN] [1573467463.940916843]: Performing rotation...
    [ERROR] [1573467463.991299775]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
    [ERROR] [1573467469.301773117]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
  • 0 in reply to Charles Oladimeji
    Intellectual 385 points

    Hi Charles,

    Do you have any other suggestions for this issue?

    BRs

  • 0 in reply to user6187576
    TI__Mastermind 33805 points

    Hi,

    can you share a screenshot showing the boundary on the map?  

    The navigation demo section, share below details how to enable and disable the boundary. You may be positioning the robot's initial position too close to the boundary.

    BR,

    Charles O

     

  • 0 in reply to Charles Oladimeji
    Intellectual 385 points

    Hi Charles,

    What is the expected distance between the robot and the boundary? 

    The current distance between the robot and the boundary on the map is 2 meters. the screenshot(The red circle marks the robot) showing the boundary on the map as below,

  • 0 in reply to user6187576
    TI__Mastermind 33805 points

    Hi,

    On page 23 of the usersguide, you will see that there is the grid on the map and there is boundary shown as the grey rectangle. If the robot is too close to that rectangle it will cause the error "Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00". 

    You can hide the box but still have it causing issues if its not disabled. Can you enable the boundary and check to see if its the cause of the problem? that is what I think the issue is at this point.

    BR,

    Charles O

  • 0 in reply to Charles Oladimeji
    Intellectual 385 points

    Hi Charles,

    > On page 23 of the usersguide, you will see that there is the grid on the map and there is boundary shown as the grey rectangle.

    ==> Could you please tell us this is what userguide? There is only 17 pages at Autonomous_Robotics_with_ROS_for_mmWave_Users_Guide; mmwave_sdk_user_guide have more than 23 pages but it does not have any info of boundary.

    > You can hide the box but still have it causing issues if its not disabled. Can you enable the boundary and check to see if its the cause of the problem? that is what I think the issue is at this point.

    ==> Could you please tell how to enable / disable boundary? thans a lot!

    BRs

  • 0 in reply to user6187576
    Intellectual 385 points

    Hi Charles,

    After using the default map map_4ft_by_6ft_border_large.bt, Robot move and go to the goal location successfully.

    Seem the reason is that we make a wrong map, could you please provide a correct mapping method with IWR6843 ISK, thanks a lot.

    And if possible, could you please provide a large default map for us,  the current default maps (map_4ft_by_6ft_border.bt/map_4ft_by_6ft_border_large.bt/map_4ft_by_8ft_border.bt) are very small.

    BRs

  • 0 in reply to user6187576
    TI__Mastermind 33805 points

    Hi,

    You can use the same map, you just have to disable the border. The user guide details steps on disabling the border

    BR,

    Charles O

  • 0 in reply to Charles Oladimeji
    Intellectual 385 points

    Hi Charles

    Could you please tell us this is what user guide? I could not find any steps on disabling the border when using map at both  Autonomous_Robotics_with_ROS_for_mmWave_Users_Guide and mmwave_sdk_user_guide.

    Or please write the steps on disabling the border when using map here? 

    Thanks a lot!

  • 0 in reply to Charles Oladimeji
    Intellectual 385 points

    Thank you, this solution fixed my issue.