move_base simulated in stage without map_sever and amcl
Hello all, I am using movebase as a local navigation without mapsever and amcl. I have a higher path planning planner which is a cpp file which will generate some goals. And I publish it to the move_base/goal topic. But I have some problem when I set up the navigation stack. I was following the navigation tutorial. Here is my yaml files and launch file:
BTW, this is my error when running the launch file:
Waiting on transform from base_link to map to become available before running costmap, tf error:
costmapcommonparams.yaml:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [(0.0,0.0)]
#robot_radius: ir_of_robot
inflation_radius: 0.55
observation_sources: laser_scan_sensor point_cloud_sensor
laser_scan_sensor: {sensor_frame: frame_name, data_type: LaserScan, topic: topic_name, marking: true, clearing: true}
point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, 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
globalcostmapparams.yaml:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: false
baselocalplanner.yaml:
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.1
max_vel_theta: 1.0
min_in_place_vel_theta: 0.4
acc_lim_theta: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic_robot: true
launch file: This launch file will open the stage and topics tf and basescan ,odom ,cmdvel are provided
<launch>
<param name="/use_sim_time" value="true"/>
<node pkg="stage_ros" type="stageros" name="IGVC_stage" args="$(find stage_hill)/world/hillLand.world" output="screen">
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find localnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find localnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find localnav)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find localnav)/global_costmap_params.yaml" command="load" />
<rosparam file="$(find localnav)/base_local_planner_params.yaml" command="load" />
</node>
</launch>
Asked by zerhin on 2015-10-19 21:38:44 UTC
Answers
It expects that transform because that's what you specify in your global costmap params. MoveBase's behavior can get rather tricky if you don't use both local and global planning.
Asked by David Lu on 2015-10-20 13:56:09 UTC
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