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I'm using Nav2 on ROS2 foxy.

After mapping, whever I set goal_pose nav2 makes correct waypoint.

But near the corner, the waypoint is suddenly changed too close to move. So that every time the robot crash.

Even I change parameters like, inflation radius, footprint, cost_scaling factor, rviz map display the result, but the robot ignore the wall inflation because waypoint created too close to the wall.

enter image description here

enter image description here

I do not know what is problem.

Please help me.

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    $\begingroup$ Please provide more information about your setup, configuration files, etc. to be able to help you. $\endgroup$ Commented Oct 21, 2023 at 7:51
  • $\begingroup$ Thanks Christoph. And sorry for late reply. I'm urgent then so I changed foxy to humble and solved it. But I think reason was error of local cost map. $\endgroup$ Commented Jun 28, 2024 at 0:10

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