ROS-Answers/Navigation/Navigation

talkingrobots@dfki-delmarre:~$ roslaunch tarot_robotcontrol NavStack-revy1.launch
... logging to /home/talkingrobots/.ros/log/b86103ba-4c12-11e1-bb5d-43411aeb140d/roslaunch-dfki-delmarre-1880.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dfki-delmarre:54281/

SUMMARY
========

PARAMETERS
 * /move_base/local_costmap/laser_scan_sensor/sensor_frame
 * /move_base/local_costmap/footprint
 * /move_base/TrajectoryPlannerROS/transform_tolerance
 * /move_base/footprint_padding
 * /move_base/TrajectoryPlannerROS/vx_samples
 * /move_base/global_costmap/laser_scan_sensor/expected_update_rate
 * /move_base/local_costmap/observation_sources
 * /move_base/global_costmap/laser_scan_sensor/marking
 * /move_base/TrajectoryPlannerROS/acc_lim_y
 * /move_base/TrajectoryPlannerROS/acc_lim_x
 * /move_base/local_costmap/cost_scaling_factor
 * /move_base/shutdown_costmaps
 * /move_base/TrajectoryPlannerROS/sim_time
 * /move_base/local_costmap/transform_tolerance
 * /move_base/TrajectoryPlannerROS/min_vel_x
 * /move_base/local_costmap/height
 * /move_base/global_costmap/obstacle_range
 * /move_base/local_costmap/inflation_radius
 * /move_base/global_costmap/laser_scan_sensor/max_obstacle_height
 * /move_base/global_costmap/footprint
 * /move_base/local_costmap/laser_scan_sensor/expected_update_rate
 * /move_base/global_costmap/rolling_window
 * /move_base/local_costmap/static_map
 * /move_base/local_costmap/resolution
 * /move_base/global_costmap/laser_scan_sensor/data_type
 * /move_base/global_costmap/publish_frequency
 * /move_base/local_costmap/width
 * /move_base/TrajectoryPlannerROS/max_vel_x
 * /move_base/local_costmap/rolling_window
 * /move_base/NavfnROS/allow_unknown
 * /move_base/controller_frequency
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base/global_costmap/laser_scan_sensor/min_obstacle_height
 * /move_base/clearing_rotation_allowed
 * /move_base/global_costmap/inflation_radius
 * /move_base/TrajectoryPlannerROS/occdist_scale
 * /move_base/global_costmap/origin_z
 * /rosdistro
 * /move_base/oscillation_distance
 * /move_base/TrajectoryPlannerROS/max_rotational_vel
 * /move_base/TrajectoryPlannerROS/goal_distance_bias
 * /move_base/local_costmap/unknown_threshold
 * /move_base/global_costmap/static_map
 * /move_base/global_costmap/unknown_threshold
 * /move_base/global_costmap/mark_threshold
 * /move_base/local_costmap/laser_scan_sensor/max_obstacle_height
 * /move_base/TrajectoryPlannerROS/dwa
 * /move_base/global_costmap/laser_scan_sensor/sensor_frame
 * /move_base/global_costmap/laser_scan_sensor/observation_persistence
 * /move_base/oscillation_timeout
 * /move_base/global_costmap/robot_base_frame
 * /move_base/global_costmap/cost_scaling_factor
 * /move_base/local_costmap/unknown_cost_value
 * /move_base/local_costmap/update_frequency
 * /move_base/global_costmap/z_resolution
 * /move_base/local_costmap/raytrace_range
 * /move_base/local_costmap/mark_threshold
 * /move_base/local_costmap/publish_frequency
 * /move_base/global_costmap/observation_sources
 * /move_base/global_costmap/update_frequency
 * /move_base/TrajectoryPlannerROS/acc_lim_th
 * /move_base/local_costmap/origin_z
 * /move_base/local_costmap/laser_scan_sensor/data_type
 * /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base/TrajectoryPlannerROS/heading_lookahead
 * /move_base/TrajectoryPlannerROS/holonomic_robot
 * /move_base/local_costmap/map_type
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base/local_costmap/laser_scan_sensor/topic
 * /move_base/TrajectoryPlannerROS/path_distance_bias
 * /move_base/local_costmap/robot_base_frame
 * /move_base/local_costmap/z_resolution
 * /move_base/local_costmap/laser_scan_sensor/min_obstacle_height
 * /move_base/local_costmap/z_voxels
 * /move_base/local_costmap/laser_scan_sensor/observation_persistence
 * /move_base/global_costmap/transform_tolerance
 * /move_base/TrajectoryPlannerROS/sim_granularity
 * /move_base/local_costmap/obstacle_range
 * /move_base/global_costmap/raytrace_range
 * /move_base/TrajectoryPlannerROS/vtheta_samples
 * /move_base/local_costmap/laser_scan_sensor/clearing
 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base/global_costmap/map_type
 * /move_base/global_costmap/laser_scan_sensor/topic
 * /move_base/controller_patience
 * /rosversion
 * /move_base/local_costmap/global_frame
 * /move_base/global_costmap/global_frame
 * /move_base/global_costmap/unknown_cost_value
 * /move_base/local_costmap/laser_scan_sensor/marking
 * /move_base/recovery_behavior_enabled
 * /move_base/global_costmap/laser_scan_sensor/clearing
 * /move_base/local_costmap/publish_voxel_map
 * /move_base/global_costmap/z_voxels

NODES
  /
    move_base (move_base/move_base)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[move_base-1]: started with pid [1898]
[ INFO] [1328089217.253314537]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1328089217.354917958]: MAP SIZE: 199, 199
[ INFO] [1328089217.361084362]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1328089217.514631950]: Sim period is set to 0.10
[ 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.
[ 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.
[ERROR] [1328089319.464014460]: Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors
^C[move_base-1] killing on exit
move_base: /usr/include/boost/thread/pthread/mutex(DOT)hpp:50: void boost::mutex::lock(): Assertion `!pthread_mutex_lock(&m)' failed.
shutting down processing monitor...
... shutting down processing monitor complete
done