Karl going towards obstacles

[lucasb-eyer]

Sometimes, Karl sees an obstacle, say front left of him, and instead of driving to the right (as according to the global plan), he decides to turn left, RIGHT INTO THE OBSTACLE. This is very strange behaviour I've been observing during the past previous weeks already.

Here is an example of it, the green arrows are the odometry, i.e. how he drove:

[lucasb-eyer]

By the way, backtracking got him out of the situation most of the time, but when the obstacle is a human, this is really awkward for that person...

[cdondrup]

We observe the same behaviour with Linda since we are in the museum. No idea what causes this, just saying that you're not alone ;)

[lucasb-eyer]

Good to know! The backtracking helps a lot, but it's more like curing the symptoms while we should fix the root cause.

[nilsbore]

Actually, I think this is related to the issue that we thought was caused by the updated drivers. This means that we can't use move_base to pass through doors, something that was quite reliable earlier. As it didn't get solved by a downgrade to the old drivers, we thought it had something to do with dwa_local_planner (since, as you say, the global plan looks good). We've tried to play around with a lot of the parameters there without any success. I also tried to downgrade to the earliest source compatible version of dwa_local_planner but that didn't solve anything. When the marathon is over I will try an even earlier version of move_base to see if there is any difference there.

[bfalacerda]

closing, more info here: strands-project/strands_movebase#27