wall avoidance and multi turtlebot support

[hikashi]

Hi Fazil,

I was wondering is it possible to recreate multiple turtlebot3 to run the RRT exploration as shown in the original RRT exploration package?

Also, I managed to get the program running but somehow the turtlebot3 have the tendency to stuck at wall and often requires manual control to unfreeze the robot?
Is there any fine tuning parameters provided? thanks.

Regards,
Billy

[PabloSerrano-jpg]

Hello! It seems I am having the same issue with wall avoidance. Was any solution found? Thanks!

[hikashi]

Hi, I think you have to aggressively inflates the costmap to solve this issue. However, note that it might reduce the traversability of narrow passage.

[PabloSerrano-jpg]

Hi, I think you have to aggressively inflates the costmap to solve this issue. However, note that it might reduce the traversability of narrow passage.

I see... In our case we're a team developing a rover for a contest and part of the challenge is an autonomous exploration to find the shortest path. The testing area would be very open, so narrow passages aren't an issue. As for the costmaps, which cpp file would I need to edit in this case if its either the global or local rrt detector. Thank you!