Carrot planner prevent orientation goal

I'm using a carrot planner to navigate to a goal and stop if there is an obstacle. As it navigates and cannot find a path to the goal, it keeps rotating in place for a bit, sort of oscillating instead of stopping. I would like it to be oriented along the straight line (i.e. if I approach a table, and stop, I would like it to be facing the table, and not rotate away from it).

What parameters are relevant to accomplish this? Thanks

Edit: I'm working with ros1 navigation stack

Asked by ThreeForElvenKings on 2023-05-25 16:06:19 UTC

Comments

What you are describing is not how the carrot planner behaves. My guess is that either you are actually using a different local planner, or there is something wrong with your robot's map->base_link transform (maybe it is inaccurate, or it is jumping around?)

Asked by Mike Scheutzow on 2023-05-27 10:03:22 UTC

Which local planner is appropriate for the carrot planner, because as I see it, the carrot planner is a global planner. The transforms seem to correct

Asked by ThreeForElvenKings on 2023-05-27 18:03:44 UTC

Oops, you're right. The behavior you're describing is determined by the local planner, not the global planner. You want one that does not do collision avoidance. You could look at using something like pose_follower from https://github.com/ros-planning/navigation_experimental.git

Asked by Mike Scheutzow on 2023-05-28 07:13:38 UTC

Answers

Need more information. A first step could be to look at the "Behavior Server" as it handling recovery behavior.

Asked by ketill on 2023-05-25 18:12:49 UTC

Comments

Can you give some details on what additional information is needed? I'm using ROS1 navigation stack (edited the post). And I noticed that it does not trigger recovery behaviors, since I've disabled recovery

Asked by ThreeForElvenKings on 2023-05-25 18:20:48 UTC