Robot Navigation

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== Testing and Debugging ==
== Testing and Debugging ==
When testing robot navigation in Player it is very helpful to have a simple interface for setting the robots goal and position directly on the map and monitoring those. This can be done with [http://playerstage.sourceforge.net/doc/Player-svn/player/group__util__playernav.html playernav].
When testing robot navigation in Player it is very helpful to have a simple interface for setting the robots goal and position directly on the map and monitoring those. This can be done with [http://playerstage.sourceforge.net/doc/Player-svn/player/group__util__playernav.html playernav].
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== Caveats ==
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=== Segmentation Fault ===
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When using navigation drivers in Player as the ones mentioned above it is advised to have those drivers running in a separate player instance. Otherwise a Stage plugin or a robot driver can interfere with the navigation drivers and cause Player to segmentation fault.
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=== Real Robot is Spinning Around or Doing Nothing ===
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When using a laser ranger as sensor for the local path planner it can happen that the real robot spins around endlessly and does not head towards any goal. This can happen with a real laser ranger since its readings are noised and providing sometimes erroneous values. Some ranger hardware returns those error values as very short ranges (< 0.1 meter). This can lead the local path planner to interpret the reading as an obstacle and starting avoiding the ''ghost'' obstacle. Which can be spinning around or just stop moving.

Latest revision as of 11:21, 5 April 2011

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