Move_base navigation not forming nodes.
Hey everyone,
I'm fairly new to ROS in general, but have successfully performed gmapping and r-tabmapping without any issues.
I've followed the tutorial (http://wiki.ros.org/navigation/Tutorials/RobotSetup#ROS) and have had little success. No errors are produced, but the expected nodes are not initialized (costmaps).
Here is my move_base launch file and the accompanying .yaml files.
movebase.launch:
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find spiffy_2dnav)/Maps/map.pgm 0.05"/>
<include file="$(find amcl)/examples/amcl_diff.launch" />
<node pkg="move_base" type="move_base" args="cmd_vel:=summit_xl_controller/command" respawn="false" name="move_base" output="screen">
<rosparam file="$(find spiffy_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find spiffy_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find spiffy_2dnav)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find spiffy_2dnav)/global_costmap_params.yaml" command="load" />
<rosparam file="$(find spiffy_2dnav)/base_local_planner_params.yaml" command="load" />
</node>
</launch>
baselocalplanner_params.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
costmapcommonparams.yaml
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.44, 0.29], [0.44, -0.29], [-0.44, -0.29], [-0.44, 0.29]]
#robot_radius: ir_of_robot
inflation_radius: 0.55
observation_sources: laser_scan_sensor #point_cloud_sensor
laser_scan_sensor: {sensor_frame: hokuyo_laser_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}
localcostmapparams.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: true
Here is a log of what happens after I launch:
roslaunch move_base.launch
... logging to somedir/name.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
WARNING: ignoring defunct <master /> tag
started roslaunch server http://some.ip/
SUMMARY
========
PARAMETERS
* /amcl/gui_publish_rate: 10.0
* /amcl/kld_err: 0.05
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 30
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 5000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.8
* /amcl/odom_alpha4: 0.2
* /amcl/odom_alpha5: 0.1
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 0.1
* /amcl/update_min_a: 0.5
* /amcl/update_min_d: 0.2
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2
* /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
* /move_base/TrajectoryPlannerROS/acc_lim_y: 2.5
* /move_base/TrajectoryPlannerROS/holonomic_robot: True
* /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
* /move_base/TrajectoryPlannerROS/max_vel_x: 0.45
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
* /move_base/global_costmap/footprint: [[0.44, 0.29], [0...
* /move_base/global_costmap/global_frame: /map
* /move_base/global_costmap/inflation_radius: 0.55
* /move_base/global_costmap/laser_scan_sensor/clearing: True
* /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
* /move_base/global_costmap/laser_scan_sensor/marking: True
* /move_base/global_costmap/laser_scan_sensor/sensor_frame: hokuyo_laser_link
* /move_base/global_costmap/laser_scan_sensor/topic: /scan
* /move_base/global_costmap/observation_sources: laser_scan_sensor
* /move_base/global_costmap/obstacle_range: 2.5
* /move_base/global_costmap/raytrace_range: 3.0
* /move_base/global_costmap/robot_base_frame: base_link
* /move_base/global_costmap/static_map: True
* /move_base/global_costmap/update_frequency: 5.0
* /move_base/local_costmap/footprint: [[0.44, 0.29], [0...
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 6.0
* /move_base/local_costmap/inflation_radius: 0.55
* /move_base/local_costmap/laser_scan_sensor/clearing: True
* /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
* /move_base/local_costmap/laser_scan_sensor/marking: True
* /move_base/local_costmap/laser_scan_sensor/sensor_frame: hokuyo_laser_link
* /move_base/local_costmap/laser_scan_sensor/topic: /scan
* /move_base/local_costmap/observation_sources: laser_scan_sensor
* /move_base/local_costmap/obstacle_range: 2.5
* /move_base/local_costmap/publish_frequency: 2.0
* /move_base/local_costmap/raytrace_range: 3.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_link
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/update_frequency: 5.0
* /move_base/local_costmap/width: 6.0
* /rosdistro: indigo
* /rosversion: 1.11.13
* /use_sim_time: True
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
ROS_MASTER_URI=http://different.ip
core service [/rosout] found
process[map_server-1]: started with pid [4889]
process[amcl-2]: started with pid [4893]
process[move_base-3]: started with pid [4897]
[ INFO] [1450153911.404219212]: Requesting the map...
[ INFO] [1450153911.450433694]: Received a 4000 X 4000 map @ 0.050 m/pix
[ INFO] [1450153911.714427202]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1450153911.960121028]: Done initializing likelihood field model.
And here is my tf tree and rqt_graph: http://imgur.com/a/YUr9u
I was hoping an expert eye may be able to spot some simple mistakes in my setup files.
Thank you in advance!
Asked by Feyre on 2015-12-14 23:51:07 UTC
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