Goal Setting indefinitely. Unable to autonomously navigate

[timothynassar]

I currently have a mushr robot built to the specifications of the mushr website. I am working on setting goals in rviz with a map that I have made. When I set the goal in rviz, the console notifies me that the goal is setting, but it never notifies me that the goal is set.
I have tried adjusting the value for K in dispersion.yaml to 30 and I have changed the sampling size in the RHC controller to 11 as recommended in a previous discussion on this forum. I would appreciate any advice. Thank you

[schmittlema]

Unfortunately mushr_rhc is in a broken state and we are working to re-write it to into more readible and usable form. My best recommendation in the meantime is to try following the instructions layed out here.

[timothynassar]

Ok we made that change and got the following error about ip around line 53 of controlnode.py and you can see how that error was remedied in the picture below.

Once that issue was mitigated, we were able to get the path and set the path, but still no movement upon engagement of the dead-man switch. In the photo below you can see that we are running without vital errors, but we get no movement :/

[bears0]

Is there a working version of the RHC node? I imagine it worked before, so how would we go about getting a previous stable release?

[timothynassar]

We were actually able to finally get the waypoint navigation to work and my group will share the revision that works. The problem we are still having is that the robot doesn’t avoid obstacles that are new to the map and we can only navigate about a meter of distance at a time.

[OfficialFlo]

@timothynassar We are currently also working with the MuSHR, and our autonomous navigation is also not working. Would it be possitble that you share your revision that is working? Would be great :)

[schmittlema]

There is a alpha version of mushr_rhc (just a different branch) intended to target py3 that we have been working on. To run, launch real.launch or sim.launch. That being said it is not intended to target the current version of the stack so there may be some issues. We are close to a noetic release including updated navigation code by end of June which should be more stable and reliable.

mushr_rhc