move_base obstacle topic missing
Hey, Im trying to run the Navigation stack on my robot (with laser scanner and whel odometry) with ROS Hydro. I already built a map (using gmapping) and the localization with amcl is working as well. Now try to run move base and visualize it in rviz (I use this Tutorial: http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack).
However, when I type
rostopic list move_base
I am missing the topic
local_costmap/obstacles
and
global_costmap/obstacles
So I cannot visualize any obstacles.
Here is my launch file for move_base:
<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 amcl)/examples/amcl_diff.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" >
<param name="controller_frequency" value="10.0" />
<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>
These are my yaml files for move_base:
costmapcommonparams.yaml
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [ [0.25, 0.2.5], [-0.25, 0.25], [-0.25, -0.25], [0.25, -0.25] ]
transform_tolerance: 1.5
min_obstacle_height: 0.0
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
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
This is my tf tree:
map -> odom -> base_footprint -> base_link -> laser
I guess there is something wrong with these config files. So actually my problem is that there is no obstacle topic. However, rostopic list shows topics wirh obstacle layer and I can visualize the local and glocal costmap in rviz, but it doesnt look like in the Tutorial.
Asked by hannjaminbutton on 2015-04-15 08:40:55 UTC
Comments
did you solve it?
Asked by Mehdi. on 2015-08-05 07:40:37 UTC
I am having this same problem with Indigo. I am not getting any ROS Errors, so I am not sure if it is frames or something else that is wrong. Thanks.
Asked by rem1968 on 2017-02-28 22:10:33 UTC
Did you figure out the problem? Can you post your solution? I'm having the exact same problem. Thanks in advance!
Asked by pk99 on 2021-04-23 10:39:15 UTC