[ros-users] move_base/navigation unexpected behavior

[Antons Rebguns]

Hello folks,

I have a really strange problem with navigation stack. When I post a
navigation goal to move_base, the robot plans the path just fine and even
starts following it, but at some point it stops doing anything reasonable
and just continues going forward at 0.05 m/sec. If try and post a new goal,
again it it plans the path, but it doesn't change its behavior at all, just
continues on slowly moving forward.

rostopic echo /cmd_vel continuously outputs:

---
linear:
  x: 0.05
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0


If hook up a joystick I can control the base just fine, it moves forward,
stops, turns left and right, it behaves as expected. Localization seems to
work properly too, the particle cloud from AMCL looks reasonable.

I am not even sure where to start troubleshooting this, nav stack always
worked fine for me and I am using pretty much the same configuration as
usual.

Here are link to my launch files and config:

main launch file:
http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/wubble_navigation_apps/wubble_2dnav/wubble2_2dnav.launch
amcl launch file:
http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/wubble_navigation/wubble_navigation_global/wubble2_amcl_node.launch
move_base launch file:
http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/wubble_navigation/wubble_navigation_global/wubble2_move_base.launch

costmap params are here:
http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/wubble_navigation/wubble_navigation_config/move_base/
move_base params are here:
http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/wubble_navigation/wubble_navigation_global/config/
all files prefixed with wubble2_.

Thanks,
Anton
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