troubleshooting
- The collision avoidance is generally not smart enough to find complicated paths around objects, but it can move along surfaces.
- Giskard will stop planning if it finds a local minimum and returns success. For example, it might get stuck in a stable position behind an object that is blocking the path. There is no check if the goal is properly satisfied, because this is not necessarily wanted.
- The collision avoidance can get unstable if there are to many objects in unfortunate configurations close to the robot.
You can use rqt_py_trees to look into Giskard's behavior tree during runtime.
sudo apt install ros-noetic-rqt-py-trees
Run:
rosrun rqt_py_trees rqt_py_trees
This will give you something like this, the actual tree may look different though.
