Husky navigation stack setup
Hello again,
I am working on clear-path husky and i am using husky navigation package. I am trying to do gmapping in my lab environment then save the map and then load the map back and navigate to certain point. When i run the simulation then everything works perfectly fine in the simulation environment, When i am trying to do the same husky is not even moving to the target goal i am giving using rviz. here are my launch files.
husky_gazebo
<?xml version="1.0"?>
<launch>
<arg name="world_name" default="worlds/empty.world"/>
<arg name="laser_enabled" default="true"/>
<arg name="ur5_enabled" default="false"/>
<arg name="kinect_enabled" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/> <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<include file="$(find husky_gazebo)/launch/spawn_husky.launch">
<arg name="laser_enabled" value="$(arg laser_enabled)"/>
<arg name="ur5_enabled" value="$(arg ur5_enabled)"/>
<arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
</include>
</launch>
This is my gmapping launch file
<?xml version="1.0"?>
<launch>
<arg name="scan_topic" default="scan" />
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
<rosparam>
odom_frame: odom
base_frame: base_link
map_frame: map
map_update_interval: 0.5 # Publish new map
maxUrange: 5.5 # Should be just less than sensor range
maxRange: 6.1 # Should be just greater than sensor range
particles: 100 # Increased from 80
# Update frequencies
linearUpdate: 0.3
angularUpdate: 0.5
temporalUpdate: 2.0
resampleThreshold: 0.5
# Initial Map Size
xmin: -100.0
ymin: -100.0
xmax: 100.0
ymax: 100.0
delta: 0.05
# All default
sigma: 0.05
kernelSize: 1
lstep: 0.05
astep: 0.05
iterations: 5
lsigma: 0.075
ogain: 3.0
lskip: 0
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
lasamplestep: 0.005
</rosparam>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
When i give a target position on rviz it doesn't move.
Any suggestions and help would be appreciated.
Thanks
did you ever get this to work? I'm currently having trouble with the navigation stack and husky
did you do initial pose estimate with amcl?