Briansmith61

navigation stack PROBLEM

Jan 23rd, 2014
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  1. Let's start here
  2.  
  3. 2. Whenever I try to pose_estimate button of rviz don't work properly. The problem is that the location of the robot doesn't update after I release the drag. I am not sure what is the main reason behind this.
  4.  
  5. 3. whenever I launch roslaunch move_base.launch following thing appears------
  6.  
  7. root@ubuntu:~/fuerte_workspace/sandbox/usarsim/usarsim_inf# roslaunch move_base.launch
  8.  
  9. **I have given only the part which may help others to figure out the problem**
  10.  
  11. NODES
  12. /
  13. amcl (amcl/amcl)
  14. map_server (map_server/map_server)
  15. move_base (move_base/move_base)
  16.  
  17. ROS_MASTER_URI=http://localhost:11311
  18.  
  19. core service [/rosout] found
  20.  
  21. process[map_server-1]: started with pid [6217]
  22.  
  23. process[amcl-2]: started with pid [6218]
  24.  
  25. process[move_base-3]: started with pid [6229]
  26.  
  27. [ INFO] [1390501326.876989793]: Subscribed to Topics: laser_scan_sensor
  28.  
  29. [ INFO] [1390501326.915627599]: Requesting the map...
  30.  
  31. [ INFO] [1390501326.917638217]: Still waiting on map...
  32.  
  33. [ INFO] [1390501327.992521850]: Still waiting on map...
  34.  
  35. [ WARN] [1390501328.926871105]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
  36.  
  37. [ INFO] [1390501328.927028639]: Received a 4000 X 4000 map at 0.050000 m/pix
  38.  
  39. [ INFO] [1390501332.857633828]: MAP SIZE: 4000, 4000
  40.  
  41. [ INFO] [1390501332.864812097]: Subscribed to Topics: laser_scan_sensor
  42.  
  43. [ INFO] [1390501333.233880683]: Sim period is set to 0.05
  44.  
  45. [ WARN] [1390501390.086875767]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
  46.  
  47. [ WARN] [1390501390.086875767]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
  48.  
  49. [ WARN] [1390501390.086875767]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
  50.  
  51. [ WARN] [1390501390.086875767]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
  52.  
  53. WARN] [1390501401.208996105]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 4.8196 seconds
  54. [ WARN] [1390501405.020310831]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 3.4113 seconds
  55.  
  56. [ WARN] [1390501409.875543831]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 3.0552 seconds
  57.  
  58. ***For First warning where might be the error?***
  59.  
  60. ***For second warning I have reduced 5 to 3, but even if situation doesn't change.***
  61.  
  62. My **global_costmap_params.yaml and local_costmap_params.yaml respectively**
  63.  
  64. global_costmap:
  65.  
  66. global_frame: /map
  67.  
  68. robot_base_frame: /base_footprint
  69.  
  70. update_frequency: 5.0
  71.  
  72. static_map: true
  73.  
  74. **end**
  75.  
  76. local_costmap:
  77.  
  78. global_frame: /odom
  79.  
  80. robot_base_frame: /base_footprint
  81.  
  82. update_frequency: 5.0
  83.  
  84. publish_frequency: 5.0
  85.  
  86. static_map: false
  87.  
  88. rolling_window: true
  89.  
  90. width: 6.0
  91.  
  92. height: 6.0
  93.  
  94. # origin_x: -0.115
  95.  
  96. origin_x: 7.5
  97.  
  98. origin_y: 7.5
  99.  
  100. resolution: 0.05
  101.  
  102. **my move_base.launch look like this.-------**
  103.  
  104. launch>
  105.  
  106. !-- Run the map server -->
  107.  
  108. node name="map_server" pkg="map_server" type="map_server" args="$(find usarsim_inf)/map.pgm 0.05"/>
  109.  
  110. !--- You can see original move_base.launch -->
  111.  
  112. !--- Run AMCL -->
  113.  
  114. include file="$(find amcl)/examples/amcl_omni.launch" />
  115.  
  116. node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  117.  
  118. rosparam file="$(find usarsim_inf)/costmap_common_params.yaml" command="load" ns="global_costmap" />
  119.  
  120. rosparam file="$(find usarsim_inf)/costmap_common_params.yaml" command="load" ns="local_costmap" />
  121.  
  122. rosparam file="$(find usarsim_inf)/local_costmap_params.yaml" command="load" />
  123.  
  124. rosparam file="$(find usarsim_inf)/global_costmap_params.yaml" command="load" />
  125.  
  126. rosparam file="$(find usarsim_inf)/base_local_planner_params.yaml" command="load" />
  127. /node>
  128.  
  129. /launch>
  130.  
  131. **END**
  132.  
  133. **I intensionally left "<" bracket here as it can't be viewed**
  134.  
  135. 4. Again although **I have generated a static map called map.pgm through map_saver utility but I am not able to bring it in rviz window.** I have gone through the video given int the page http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack
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