Hi,

Thanks, your answers are good news for us. I'm afraid that I've chosen
a stupid solution.

As for the second question,  I send a goal pose, after the robot stops
navigation ( which means waitForResults returns false) or the robot is
surrounded by people, expecting that the robot will try recovery
behaviors such as rotating. But the robot aborts the action after a
few seconds with "Aborting because a valid plan could not be found.
Even after executing all recovery behaviors" message, although it
seems no recovery behaviors ware executed.

So, I would like to know what happens inside.

do {

}

On Thu, Sep 2, 2010 at 3:17 PM, Eitan Marder-Eppstein
<eitan@willowgarage.com> wrote:
> Kei,
> I've answered in-line below.
>
> On Wed, Sep 1, 2010 at 7:55 PM, Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
> wrote:
>>
>> Hi
>>
>> I have two questions regarding the navigation stack.
>>
>> 1)  is it possible to change inflation radius after we start move_base?
>>    Currently we set new
>> /move_base_node/local_costmap/inflation_radius parameter and rosnode
>> kill /move_base_node.. but this takes about 10 seconds for respawn.We
>> look for faster solution.
>
> Currently, there is no way to dynamically reconfigure the costmap's
> parameters, including the inflation radius. Handling dynamic footprints is
> something that's on the todo list for navigation, but, unfortunately, its
> not implemented yet.
>
>>
>> 2) The robot behaves according to the move_base Default Recovery
>> Behaviors shown in http://www.ros.org/wiki/move_base page
>>   Is there a way to know current robot behavior (navigation?clarning
>> rotatoin?)
>
> If you turn the DEBUG logging level on for move_base, you'll at least see a
> print out of "In clearing/recovery state" when a recovery behavior is
> executed and "In planning state" when planning is being executed, but
> there's no great way to tell programmatically. I've never had a request to
> make that part of move_base's state external. I could probably add it to the
> feedback given from the MoveBase action in a future version of navigation.
> If that's something you'd like to see, feel free to ticket me on it. If you
> really wanted to, you could write your own recovery behavior plugins that
> notify you when they're active and use those instead of the defaults.
> Hope all is well, and sorry that both the answers were probably not what you
> were hoping to hear,
> Eitan
>
>>
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>
>
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