move_base simulated in stage without map_sever and amcl
Hello all, I am using move_base as a local navigation without map_sever 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:
costmap_common_params.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}
local_costmap_param.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
global_costmap_params.yaml:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: false
base_local_planner.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 base_scan ,odom ,cmd_vel 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>