move_base导航框架中recovery_behaviors

青年云耕

于 2019-01-25 13:49:39 发布

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分类专栏： ROS

本文链接：https://blog.csdn.net/qq_41925420/article/details/86644764

版权

move_base节点在配置良好的机器人上运行，旨在实现到达目标位姿。当遇到障碍时，它会执行一系列恢复行为，如清除地图、原地旋转等，以尝试摆脱困境。若所有尝试失败，将宣告目标无法达到并通知用户。

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对底座的期望行为

Running the move_base node on a robot that is properly configured (please seenavigation stack documentation for more details) results in a robot that will attempt to achieve a goal pose with its base to within a user-specified tolerance. In the absence of dynamic obstacles, the move_base node will eventually get within this tolerance of its goal or signal failure to the user. The move_base node may optionally perform recovery behaviors when the robot perceives itself as stuck. By default, themove_base node will take the following actions to attempt to clear out space(sonictl@CSDN):

First, obstacles outside of a user-specified region will be cleared from the robot's map. Next, if possible, the robot will perform an in-place rotation to clear out space. If this too fails, the robot will more aggressively clear it