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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: <param name="/usesim_time" value="true"/>

  <!-- 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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