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shankerkeshavdas

ROS-Answers/Navigation/Navigation

Feb 1st, 2012
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  1. talkingrobots@dfki-delmarre:~$ roslaunch tarot_robotcontrol NavStack-revy1.launch
  2. ... logging to /home/talkingrobots/.ros/log/b86103ba-4c12-11e1-bb5d-43411aeb140d/roslaunch-dfki-delmarre-1880.log
  3. Checking log directory for disk usage. This may take awhile.
  4. Press Ctrl-C to interrupt
  5. Done checking log file disk usage. Usage is <1GB.
  6.  
  7. started roslaunch server http://dfki-delmarre:54281/
  8.  
  9. SUMMARY
  10. ========
  11.  
  12. PARAMETERS
  13. * /move_base/local_costmap/laser_scan_sensor/sensor_frame
  14. * /move_base/local_costmap/footprint
  15. * /move_base/TrajectoryPlannerROS/transform_tolerance
  16. * /move_base/footprint_padding
  17. * /move_base/TrajectoryPlannerROS/vx_samples
  18. * /move_base/global_costmap/laser_scan_sensor/expected_update_rate
  19. * /move_base/local_costmap/observation_sources
  20. * /move_base/global_costmap/laser_scan_sensor/marking
  21. * /move_base/TrajectoryPlannerROS/acc_lim_y
  22. * /move_base/TrajectoryPlannerROS/acc_lim_x
  23. * /move_base/local_costmap/cost_scaling_factor
  24. * /move_base/shutdown_costmaps
  25. * /move_base/TrajectoryPlannerROS/sim_time
  26. * /move_base/local_costmap/transform_tolerance
  27. * /move_base/TrajectoryPlannerROS/min_vel_x
  28. * /move_base/local_costmap/height
  29. * /move_base/global_costmap/obstacle_range
  30. * /move_base/local_costmap/inflation_radius
  31. * /move_base/global_costmap/laser_scan_sensor/max_obstacle_height
  32. * /move_base/global_costmap/footprint
  33. * /move_base/local_costmap/laser_scan_sensor/expected_update_rate
  34. * /move_base/global_costmap/rolling_window
  35. * /move_base/local_costmap/static_map
  36. * /move_base/local_costmap/resolution
  37. * /move_base/global_costmap/laser_scan_sensor/data_type
  38. * /move_base/global_costmap/publish_frequency
  39. * /move_base/local_costmap/width
  40. * /move_base/TrajectoryPlannerROS/max_vel_x
  41. * /move_base/local_costmap/rolling_window
  42. * /move_base/NavfnROS/allow_unknown
  43. * /move_base/controller_frequency
  44. * /move_base/TrajectoryPlannerROS/xy_goal_tolerance
  45. * /move_base/global_costmap/laser_scan_sensor/min_obstacle_height
  46. * /move_base/clearing_rotation_allowed
  47. * /move_base/global_costmap/inflation_radius
  48. * /move_base/TrajectoryPlannerROS/occdist_scale
  49. * /move_base/global_costmap/origin_z
  50. * /rosdistro
  51. * /move_base/oscillation_distance
  52. * /move_base/TrajectoryPlannerROS/max_rotational_vel
  53. * /move_base/TrajectoryPlannerROS/goal_distance_bias
  54. * /move_base/local_costmap/unknown_threshold
  55. * /move_base/global_costmap/static_map
  56. * /move_base/global_costmap/unknown_threshold
  57. * /move_base/global_costmap/mark_threshold
  58. * /move_base/local_costmap/laser_scan_sensor/max_obstacle_height
  59. * /move_base/TrajectoryPlannerROS/dwa
  60. * /move_base/global_costmap/laser_scan_sensor/sensor_frame
  61. * /move_base/global_costmap/laser_scan_sensor/observation_persistence
  62. * /move_base/oscillation_timeout
  63. * /move_base/global_costmap/robot_base_frame
  64. * /move_base/global_costmap/cost_scaling_factor
  65. * /move_base/local_costmap/unknown_cost_value
  66. * /move_base/local_costmap/update_frequency
  67. * /move_base/global_costmap/z_resolution
  68. * /move_base/local_costmap/raytrace_range
  69. * /move_base/local_costmap/mark_threshold
  70. * /move_base/local_costmap/publish_frequency
  71. * /move_base/global_costmap/observation_sources
  72. * /move_base/global_costmap/update_frequency
  73. * /move_base/TrajectoryPlannerROS/acc_lim_th
  74. * /move_base/local_costmap/origin_z
  75. * /move_base/local_costmap/laser_scan_sensor/data_type
  76. * /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel
  77. * /move_base/TrajectoryPlannerROS/heading_lookahead
  78. * /move_base/TrajectoryPlannerROS/holonomic_robot
  79. * /move_base/local_costmap/map_type
  80. * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance
  81. * /move_base/local_costmap/laser_scan_sensor/topic
  82. * /move_base/TrajectoryPlannerROS/path_distance_bias
  83. * /move_base/local_costmap/robot_base_frame
  84. * /move_base/local_costmap/z_resolution
  85. * /move_base/local_costmap/laser_scan_sensor/min_obstacle_height
  86. * /move_base/local_costmap/z_voxels
  87. * /move_base/local_costmap/laser_scan_sensor/observation_persistence
  88. * /move_base/global_costmap/transform_tolerance
  89. * /move_base/TrajectoryPlannerROS/sim_granularity
  90. * /move_base/local_costmap/obstacle_range
  91. * /move_base/global_costmap/raytrace_range
  92. * /move_base/TrajectoryPlannerROS/vtheta_samples
  93. * /move_base/local_costmap/laser_scan_sensor/clearing
  94. * /move_base/TrajectoryPlannerROS/oscillation_reset_dist
  95. * /move_base/global_costmap/map_type
  96. * /move_base/global_costmap/laser_scan_sensor/topic
  97. * /move_base/controller_patience
  98. * /rosversion
  99. * /move_base/local_costmap/global_frame
  100. * /move_base/global_costmap/global_frame
  101. * /move_base/global_costmap/unknown_cost_value
  102. * /move_base/local_costmap/laser_scan_sensor/marking
  103. * /move_base/recovery_behavior_enabled
  104. * /move_base/global_costmap/laser_scan_sensor/clearing
  105. * /move_base/local_costmap/publish_voxel_map
  106. * /move_base/global_costmap/z_voxels
  107.  
  108. NODES
  109. /
  110. move_base (move_base/move_base)
  111.  
  112. ROS_MASTER_URI=http://localhost:11311
  113.  
  114. core service [/rosout] found
  115. process[move_base-1]: started with pid [1898]
  116. [ INFO] [1328089217.253314537]: Subscribed to Topics: laser_scan_sensor
  117. [ INFO] [1328089217.354917958]: MAP SIZE: 199, 199
  118. [ INFO] [1328089217.361084362]: Subscribed to Topics: laser_scan_sensor
  119. [ INFO] [1328089217.514631950]: Sim period is set to 0.10
  120. [ WARN] [1328089218.537575845]: Message from [/hokuyo_node] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once.
  121. [ WARN] [1328089218.538104757]: Message from [/hokuyo_node] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once.
  122. [ERROR] [1328089319.464014460]: Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors
  123. ^C[move_base-1] killing on exit
  124. move_base: /usr/include/boost/thread/pthread/mutex(DOT)hpp:50: void boost::mutex::lock(): Assertion `!pthread_mutex_lock(&m)' failed.
  125. shutting down processing monitor...
  126. ... shutting down processing monitor complete
  127. done
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