{"action":"created","issue":{"url":"https://api.github.com/repos/strands-project/strands_navigation/issues/186","labels_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/186/labels{/name}","comments_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/186/comments","events_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/186/events","html_url":"https://github.com/strands-project/strands_navigation/issues/186","id":58759737,"number":186,"title":"Strange behaviour in Morse","user":{"login":"cburbridge","id":259580,"avatar_url":"https://avatars.githubusercontent.com/u/259580?v=3","gravatar_id":"","url":"https://api.github.com/users/cburbridge","html_url":"https://github.com/cburbridge","followers_url":"https://api.github.com/users/cburbridge/followers","following_url":"https://api.github.com/users/cburbridge/following{/other_user}","gists_url":"https://api.github.com/users/cburbridge/gists{/gist_id}","starred_url":"https://api.github.com/users/cburbridge/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/cburbridge/subscriptions","organizations_url":"https://api.github.com/users/cburbridge/orgs","repos_url":"https://api.github.com/users/cburbridge/repos","events_url":"https://api.github.com/users/cburbridge/events{/privacy}","received_events_url":"https://api.github.com/users/cburbridge/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":8,"created_at":"2015-02-24T16:04:39Z","updated_at":"2015-02-24T19:22:44Z","closed_at":null,"body":"When running topological navigation in Morse, I get some very strange robot behaviour. When navigating between two nodes through another node, all connected by move_base, when the robot enters the influence area of the intermediate node it gets stuck and moves sideways. This suggests a bug in morse not a bug in topological navigation. However, if I do the same movements with move_base direct from RViz I don't get the same problem. Also, it really looks to consistently only start occcuring only when the robot enters the influence area.\r\n\r\nI have the following topological map:\r\n\r\n```\r\nname: topo_bham_cs_1\r\nmap: topo_bham_cs_1\r\npointset: topo_bham_cs_1\r\nlast_updated: ''\r\nnodes: \r\n  - \r\n    name: ChargingPoint\r\n    map: morse_bham_cs\r\n    pointset: topo_bham_cs_1\r\n    pose: \r\n      position: \r\n        x: 0.0\r\n        y: 0.0\r\n        z: 0.0\r\n      orientation: \r\n        x: 0.0\r\n        y: 0.0\r\n        z: 0.0\r\n        w: 0.0\r\n    verts: \r\n      - \r\n        x: 0.25\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.0750000029802\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.40000000596\r\n        y: 0.287000000477\r\n      - \r\n        x: -0.40000000596\r\n        y: -0.287000000477\r\n      - \r\n        x: -0.0750000029802\r\n        y: -0.689999997616\r\n      - \r\n        x: 0.25\r\n        y: -0.689999997616\r\n    edges: \r\n      - \r\n        node: Station\r\n        action: undocking\r\n  - \r\n    name: WayPoint3\r\n    map: morse_bham_cs\r\n    pointset: topo_bham_cs_1\r\n    pose: \r\n      position: \r\n        x: -4.28688909266\r\n        y: -3.70573661311\r\n        z: -1.94956707028e-10\r\n      orientation: \r\n        x: 0.0\r\n        y: 0.0\r\n        z: 0.695137900324\r\n        w: 0.718876414645\r\n    verts: \r\n      - \r\n        x: 0.689999997616\r\n        y: 0.287000000477\r\n      - \r\n        x: 0.287000000477\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.287000000477\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.689999997616\r\n        y: 0.287000000477\r\n      - \r\n        x: -0.689999997616\r\n        y: -0.287000000477\r\n      - \r\n        x: -0.287000000477\r\n        y: -0.689999997616\r\n      - \r\n        x: 0.287000000477\r\n        y: -0.689999997616\r\n      - \r\n        x: 0.689999997616\r\n        y: -0.287000000477\r\n    edges: \r\n      - \r\n        node: Station\r\n        action: move_base\r\n      - \r\n        node: WayPoint2\r\n        action: move_base\r\n  - \r\n    name: WayPoint1\r\n    map: morse_bham_cs\r\n    pointset: topo_bham_cs_1\r\n    pose: \r\n      position: \r\n        x: -4.0303348398\r\n        y: 3.81550800833\r\n        z: -1.93847056462e-11\r\n      orientation: \r\n        x: 0.0\r\n        y: 0.0\r\n        z: -0.738826116446\r\n        w: 0.673896111918\r\n    verts: \r\n      - \r\n        x: 0.689999997616\r\n        y: 0.287000000477\r\n      - \r\n        x: 0.287000000477\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.287000000477\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.689999997616\r\n        y: 0.287000000477\r\n      - \r\n        x: -0.689999997616\r\n        y: -0.287000000477\r\n      - \r\n        x: -0.287000000477\r\n        y: -0.689999997616\r\n      - \r\n        x: 0.287000000477\r\n        y: -0.689999997616\r\n      - \r\n        x: 0.689999997616\r\n        y: -0.287000000477\r\n    edges: \r\n      - \r\n        node: Station\r\n        action: move_base\r\n  - \r\n    name: Station\r\n    map: morse_bham_cs\r\n    pointset: topo_bham_cs_1\r\n    pose: \r\n      position: \r\n        x: -1.2\r\n        y: 0.0\r\n        z: 0.0\r\n      orientation: \r\n        x: 0.0\r\n        y: 0.0\r\n        z: 0.0\r\n        w: 1.0\r\n    verts: \r\n      - \r\n        x: 0.689999997616\r\n        y: 0.287000000477\r\n      - \r\n        x: 0.287000000477\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.287000000477\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.689999997616\r\n        y: 0.287000000477\r\n      - \r\n        x: -0.689999997616\r\n        y: -0.287000000477\r\n      - \r\n        x: -0.287000000477\r\n        y: -0.689999997616\r\n      - \r\n        x: 0.287000000477\r\n        y: -0.689999997616\r\n      - \r\n        x: 0.689999997616\r\n        y: -0.287000000477\r\n    edges: \r\n      - \r\n        node: ChargingPoint\r\n        action: docking\r\n      - \r\n        node: WayPoint1\r\n        action: move_base\r\n      - \r\n        node: WayPoint3\r\n        action: move_base\r\n  - \r\n    name: WayPoint2\r\n    map: morse_bham_cs\r\n    pointset: topo_bham_cs_1\r\n    pose: \r\n      position: \r\n        x: -4.50607967919\r\n        y: -8.22885913721\r\n        z: 5.32454771246e-10\r\n      orientation: \r\n        x: 0.0\r\n        y: 0.0\r\n        z: 0.720434401339\r\n        w: 0.69352308784\r\n    verts: \r\n      - \r\n        x: 0.689999997616\r\n        y: 0.287000000477\r\n      - \r\n        x: 0.287000000477\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.287000000477\r\n        y: 0.689999997616\r\n      - \r\n        x: -0.689999997616\r\n        y: 0.287000000477\r\n      - \r\n        x: -0.689999997616\r\n        y: -0.287000000477\r\n      - \r\n        x: -0.287000000477\r\n        y: -0.689999997616\r\n      - \r\n        x: 0.287000000477\r\n        y: -0.689999997616\r\n      - \r\n        x: 0.689999997616\r\n        y: -0.287000000477\r\n    edges: \r\n      - \r\n        node: WayPoint3\r\n        action: move_base\r\n---\r\n```\r\n\r\nI am running the bham_nav_2d from the strands_morse repository, using the bham_cs environment, and the latest version of strands_morse.\r\n\r\nHere are two screencasts:\r\n- http://www.cs.bham.ac.uk/~burbrcjc/nav1.ogv\r\n- http://www.cs.bham.ac.uk/~burbrcjc/nav2.ogv\r\n\r\nAny ideas?\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/strands-project/strands_navigation/issues/comments/75826091","html_url":"https://github.com/strands-project/strands_navigation/issues/186#issuecomment-75826091","issue_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/186","id":75826091,"user":{"login":"Jailander","id":5035967,"avatar_url":"https://avatars.githubusercontent.com/u/5035967?v=3","gravatar_id":"","url":"https://api.github.com/users/Jailander","html_url":"https://github.com/Jailander","followers_url":"https://api.github.com/users/Jailander/followers","following_url":"https://api.github.com/users/Jailander/following{/other_user}","gists_url":"https://api.github.com/users/Jailander/gists{/gist_id}","starred_url":"https://api.github.com/users/Jailander/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jailander/subscriptions","organizations_url":"https://api.github.com/users/Jailander/orgs","repos_url":"https://api.github.com/users/Jailander/repos","events_url":"https://api.github.com/users/Jailander/events{/privacy}","received_events_url":"https://api.github.com/users/Jailander/received_events","type":"User","site_admin":false},"created_at":"2015-02-24T19:22:44Z","updated_at":"2015-02-24T19:22:44Z","body":"Hi @cburbridge you can do `rosrun map_export dataset_name output_file.tplg` but since is not topological navigation its not necessary any more "}}