We are trying to use the wavefront planner with a indoor map. we built two maps with the same data but different grid resolutions. With a mapfile of 640 X 480 , at 0.100 m/pix, the robot moves but is never able to get to a goal point. With a mapfile of 200x200 at .025 ,m/pix, the robot shows the following error
new goal: 0.500000, 0.000000, 0.000000
Wavefront: global plan failed
Wavefront (port 6665):
No path from (0.000,0.000,0.000) to (0.500,0.000,0.000)
new goal: 0.625000, -0.250000, 0.099669
Wavefront (port 6665):
No path from (0.000,0.000,0.000) to (0.625,-0.250,5.711)
new goal: 0.900000, 0.075000, 0.165149
Wavefront (port 6665):
No path from (0.000,0.000,0.000) to (0.900,0.075,9.462)
new goal: 0.775000, -0.275000, -0.165149We also get the following error in both cases
error : unable to locate suitable map device
error : failed to get laser map
error : failed to setup sensor 1
error : Driver failed to Setup (-1)Attached are the cfg files and the map pgm files.
What can be the problem?
wavefront_amcl_wavefront_robot.cfgdp3_indoor_200x200.pgmdp3_indoor_640x480.pgm
