Hello everyone,
I’m using Isaac Sim 5.0.0 and ROS2 Humble on Ubuntu 22.04
I’m trying to create a navigation system for my model (forklift) inside a warehouse.
My current issue is that when I set a goal, my model get easily stuck at corner of static mesh.
When checking in IsaacSim, the model has plenty of space but when I check with RViz, the local_costmap is way too close the static part (black part) and when trying to turn few pixel of the black part are inside the local_costmap making my model stuck.
My model is 4 meters long (arm of the forklift included) and 1.5 meters wide
Because I have no knowledge in ROS2, I don’t know what to do to fix my issue.
I’m attaching the log file, YAML, and screenshot of RViz and Isaac Sim.
Could you please help me fixing my issue?
I really thank you in advance for your help.
nav_log.txt (67.2 KB)
multi_robot_forklift_01_navigation_params.yaml.txt (12.4 KB)
I’m now using the attached YAML which somehow works (not perfect though).
Please tell me if the YAML can be improved.
multi_robot_forklift_01_navigation_params.yaml.txt (12.6 KB)
Hi @ludokun Please refer to the tuning guide for ROS2 navigation.
For the local_costmap, you can probably tune the inflation layer to decrease the inflation radius, which may not be good for safety concerns but it can reduce the probability of collision during path planning.
Here is our tutorial of using ROS2 navigation to control a wheeled robot ROS2 Navigation — Isaac Sim Documentation.
This forum is for Isaac Sim issues so you might not get the best support for ROS2 navigation related issues.
Hi @zhengwang
Thank you for the link you’ve provided. I’ll definitively take a look at it.
My apologies if I post my issue in the wrong forum. As I’m using both ROS2 and Isaac Sim, I wasn’t sure where I should ask ROS2 question.
I’ll mark your answer as the solution.
Thank you for your help.
