Hey, I'm trying to use the Navigation Stack on my robot. I'm using a laser sanner and wheel odometry. I run my robot and then I start a launch file for move_base.

This is my move_base launch file:

<launch>

<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find navigation_stack)/map.yaml" />


<!--- Run AMCL -->
<include file="$(find navigation_stack)/launch/amcl_diff_map.launch" />


<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" >
<rosparam file="$(find navigation_stack)/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find navigation_stack)/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find navigation_stack)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stack)/global_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stack)/base_local_planner_params.yaml" command="load" />
</node>

</launch>

This is my amcldifflaunch file:

<launch>

<node pkg="amcl" type="amcl" name="amcl" output="screen">
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha5" value="0.1"/>
<param name="transform_tolerance" value="0.2" />
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="30"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="5000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.8"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.2"/>
<param name="update_min_a" value="0.5"/>
<param name="odom_frame_id" value="odom_base_link"/>
<param name="base_frame_id" value="base_link"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.1"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
<param name="initial_pose_x" value="0"/>
<param name="initial_pose_y" value="0"/>
<param name="initial_pose_a" value="0"/>
</node>
</launch>

There are some things that are not working.

1) When I'm running my robot everthing is shown perfectly on rviz. But when I start my movebase launch file and move the robot around, the frames for odometry and my baselink are not moving neither the frame for the laser is moving. But when I visualize the data from the scan topic it is moving as I move the robot. I guess that this is a problem with amcl. This problem appeared when I set the parameter odomframeid in my amcldiffmap launch file to my odometry frame (odombaselink). Could it be because a node from my robot is sending the odometry transform and so does amcl? Amcl uses laser scans and transforms it into the odometry frame, right? So actually I dont need any odometry when Im using amcl? So do I have to use another parameter for odomframeid in amcl or is there something wrong with my tf tree?

My transform tree looks like that:

map -> odom_base_link -> base_link -> laser

(Im sorry for that but I cannot post any pictures)

---

2) There are some topics missing in move base. When I run rostopic list there are no topics shown for localcostmap/obstacles and globalcostmap/obstacles. And roswtf shows this:

WARNING The following node subscriptions are unconnected:

• /amcl:
  • /tf_static
  • /initialpose
• /ibr_node:
  • /robotposeekf/odom_combined
  • /scanmatch_odom
• /move_base:
  • /movebasesimple/goal
  • /movebase/globalcostmap/footprint
  • /movebase/localcostmap/footprint
  • /tf_static
  • /odom
  • /move_base/cancel

When I run rostopic echo move_base/status this is the output:

header: 
seq: 4212
stamp: 

 secs: 1427785227
 nsecs: 2800094

frame_id: ''
status_list: []

These are my yaml files for move_base:

costmapcommonparams.yaml

obstacle_range: 0.5
raytrace_range: 1.0
footprint: [ [0.5, 0.5], [-0.5, 0.5], [-0.5, -0.5], [0.5, -0.5] ]

transform_tolerance: 1.5

inflation_layer:
   inflation_radius: 0.2

observation_sources: scan
   scan: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

localcostmapparam.yaml

local_costmap:
  global_frame: /odom_base_link
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
  transform_tolerance: 0.5

globalcostmapparams.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0

  static_map: true
  rolling_window: false

baselocalplanner.yaml

TrajectoryPlannerROS:
  max_vel_x: 0.44
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: true

Thanks for your help and tell me if you need anything else!