There is a problem with the local plan

[G7-3208]

Hello author, I have successfully deployed Jetson Orin and Mid360 on Go2, but in actual use, I found that when an obstacle suddenly appears in front of the Go2, it immediately stops and then turns around after a while, unable to go around the obstacle. Where should I make modifications?

[tsengapola]

Please provide dGraph in Rviz as a video when obstacle suddenly appears in front of the robot. We need to examine your dGraph first.
Follow the config in following Rviz picture:

1. topic name is perception_3d_ros/dGraph
2. disable use rainbow
3. set max intensity to 2
4. disable autocompute intensity bounds
5. style should be tiles and size 0.1

[G7-3208]

Dgraph.mp4

[tsengapola]

From the video there are 2 issues:

issueA shows there are point clouds close to the cuboid, therefore the robot will not move. If in reality, there are spaces between you and the robot, which means your cuboid is to big, you need to make it smaller.

issueB is the bug need to be fixed, the starting point should always from control frame, we will look into it. But this issue occurs because of global plan can not be found. You can see black dGrpah (which is obstacle) surrounds your robot, so the global plan can not be found.
Simplely put, check your cuboid setup and also increase ground density. There are many places of cuboid, make sure you correct all of them.

dddmr_navigation/src/dddmr_p2p_move_base/config/p2p_move_base_localization.yaml

Line 145 in 997827b

cuboid:

Set this to 0.2 or smaller depending on your computer performance.

dddmr_navigation/src/dddmr_p2p_move_base/config/p2p_move_base_localization.yaml

Line 60 in 997827b

complete_map_voxel_size: 0.4