frontier_exploration with turtlebot
I'm trying to get the frontier_exploration package to work with my TurtleBot. But so far it's not working.
The launch file
<launch>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<remap from="scan" to="/scan2" />
<rosparam>
occ_thresh: 0.25
odom_frame: odom
map_update_interval: 5.0
maxUrange: 6.0
maxRange: 8.0
sigma: 0.05
kernelSize: 1
lstep: 0.05
astep: 0.05
iterations: 5
lsigma: 0.075
ogain: 1.0
lskip: 0
srr: 0.01
srt: 0.02
str: 0.01
stt: 0.02
linearUpdate: 0.5
angularUpdate: 0.436
temporalUpdate: -1.0
resampleThreshold: 0.5
particles: 80
xmin: -1.0
ymin: -1.0
xmax: 1.0
ymax: 1.0
delta: 0.05
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
lasamplestep: 0.005
base_frame: base_link
</rosparam>
</node>
<node name="rviz" pkg="rviz" type="rviz">
</node>
<include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
<include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>
<arg name="odom_topic" default="odom" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
<remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>
</launch>
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 3.0
publish_frequency: 0.0
static_map: true
transform_tolerance: 0.5
local_costmap_params.yaml
local_costmap:
global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.05
transform_tolerance: 0.5
Errors from the frontier_exploration terminal
[ WARN] [1414574875.215553173]: Please select an initial point for exploration inside the polygon
[ INFO] [1414574876.981956729]: Sending goal
[ INFO] [1414574877.352866124]: Using plugin "static"
[ INFO] [1414574877.621707478]: Requesting the map...
[ INFO] [1414574877.775594588]: Resizing costmap to 576 X 288 at 0.050000 m/pix
[ INFO] [1414574877.847249155]: Received a 576 X 288 map at 0.050000 m/pix
[ INFO] [1414574877.847298258]: Subscribing to updates
[ INFO] [1414574878.016550480]: Using plugin "explore_boundary"
[ INFO] [1414574878.541237670]: Using plugin "sensor"
[ INFO] [1414574878.664303536]: Subscribed to Topics: /scan2
[ INFO] [1414574879.327905514]: Using plugin "inflation"
[ERROR] [1414574880.852823897]: Exception thrown while processing service call: Lookup would require extrapolation into the past. Requested time 1414574873.590463123 but the earliest data is at time 1414574878.157772422, when looking up transform from frame [odom] to frame [map]
[ERROR] [1414574880.853237138]: Service call failed: service [/explore_server/explore_costmap/explore_boundary/update_boundary_polygon] responded with an error: Lookup would require extrapolation into the past. Requested time 1414574873.590463123 but the earliest data is at time 1414574878.157772422, when looking up transform from frame [odom] to frame [map]
[ERROR] [1414574880.853397382]: Failed to set region boundary
Errors from my gmapping launch file terminal
[ WARN] [1414574406.526808975]: Could not transform the global plan to the frame of the controller ...
have you finally got it to work? its driving me nuts lol any luck, progress, idea? here is my Question I'd appreciate any little help. thanks
i really can't pin down the exact problem. sometimes it works, sometimes it doesn't. even with the clock synced properly and i also set the openni publish transform to false to fix the kinect's tf issues. we've moved on from mapping to olfaction recently so I can't help you much for the time being.
thank you for the response. one last thing, i thought i would borrow the configs that you posted here, to test on my bot. apart from clock n stuff, you did use the same config as posted here right?
Almost all of it are the same. I've increased the transform tolerance, update_frequency, publish_frequency and changed robot_base_frame to base_link on the global costmap params and frontier's launch file. I think they must be the same. Check your launch file....
...the one i've uploaded was mainly about gmapping & move_base. i think i should update my Q.
Thanks a bunch for the replies. im so stuck on finding a working exploration package you have no idea lol. have a good day!
Maybe either of you can help me at http://answers.ros.org/question/23700...