The TurtleBot3 is working but stuck at wall.

[mafifkasno]

This is my simulation:

https://youtu.be/CY2YYLg8AmI

its working in Noetic and python3. However, it stuck and no warning / error mentioning why its stuck and not follow the path planner provided by RRT.

I checked on the kobuki rrt video and seem its working fine. Why is that? I also notice there is no green line planner refreshing in turtlebot3 as well there is no red branch tree like what they have in kobuki.

https://youtu.be/abGyA3K1lzU?list=PLoGH52eUIHsc1B_xPLL6ogzYxrWy675kr

Where can we improve so turtlebot3 can keep moving and exploring? please kindly help. Thank you.

[mafifkasno]

When i checked the frames.pdf, it seems like there's an issue with the TF tree and missing transformations. I need to ensure that the transformations between frames like base_footprint and map are correctly configured.

base_footprint
Broadcaster: /robot_state_publisher
Average rate: 10000.0
Buffer length: 0.0
Most recent transform: 0.0
Oldest transform: 0.0

base_scan
Broadcaster: /robot_state_publisher
Average rate: 10000.0
Buffer length: 0.0
Most recent transform: 0.0
Oldest transform: 0.0

the question is, where is /robot_state_publisher located? Why there are missing transformations? Please kindly help.

[syauqibilfaqih]

Hey, did you solve the problem? I got the same