Obstacle Avoidance And Task Completion Problem

[berkettunckal]

Topic 1:
First of all, I would like to ask the following. I guess there is nothing in the package for obstacle avoidance when the robot is tracking a path, because it aborts during tracking. Do you have any suggestions or improvements on this subject?

Topic 2:
I'm not sure if this could be a bug. During the mission, although it does not complete the mission, it says that it has completed the mission and leaves it unfinished. I am not sure if this is a problem that happened to me.

[SteveMacenski]

I guess there is nothing in the package for obstacle avoidance when the robot is tracking a path, because it aborts during tracking.

That is just a really simple demo. The behavior that your robot employs in the situation that there's something in the way is highly dependent on application and you should design your BT solution to be sensable for what you want to accomplish. For example:

• In a tree farm, you can't dynamically replan, so you need to either wait for it to clear, or back out and go to another row
• In a vacuum robot, you could add to your BT that if you're blocked, replan around the obstacle to get back on the coverage path (or generate a new coverage plan with the current state of the world)

So, consider your application, environment, and use the tools as appropriate for the behavior you'd like

During the mission, although it does not complete the mission, it says that it has completed the mission and leaves it unfinished.

Can you clarify this with logs and more description of what you mean?

[deepakbhaskar417]

Is there any updates or solutions for the coverage planner stops before it actually completes the full path, but says reached goal. ??

[yishaiSilver]

@SteveMacenski

I had a question with regards to each of the BT suggestions you made:

• I would assume that this uses the node's coverage_path/Vector output, but I haven't seen any similar PathComponent usage in the rest of nav2. Should we build a custom node to make use of that?
• For replanning around the obstacle, I had two sub-questions:
• How would you replan at all? You can't just plan to the end since you won't perform coverage. My first thought was to truncate the coverage path to start 10m in front of the robot's current position, navigate to the start of the truncated path, and follow. It seems like TruncatePathLocal doesn't allow negative distances, though, so I can't specify a start of 10m forward through -10m backward.
• For generating a new coverage plan, would this also require us to make a new node that converts the costmap to a set of polygons? It doesn't seem like the coverage planner accounts for non-polygon-specified obstacles.