2d Nav Goal RViz button not working with PR2
Hi there,
I have been unsuccessfully trying to move our PR2 robot using the "2d Nav Goal" button in RViz.
This are the steps I do:
I start the map server up in the robot:
rosrun map_server map_server mymap.yaml
I start the navigation stack up in the robot:
roslaunch pr2_2dnav pr2_2dnav.launch
- I start RViz in a laptop through:
roslaunch pr2_navigation_slam rviz_move_base_slam.launch
- I configure RViz by adding the Map visualization and
/map
topic. I set also themap
frame as the fixed frame.
After that I can actually see the map and the PR2 model correctly positioned, but when I want to move the robot through the 2d Nav Goal button, nothing happens.
In the terminal of the step 2, the followin Error is shown:
[c2-0]: ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter]
[c2-0]: process[base_shadow_filter-6]: started with pid [20551]
[c2-0]: ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter]
[c2-0]: ERROR: cannot launch node of type [semantic_point_annotator/sac_inc_ground_removal_node]: can't locate node [sac_inc_ground_removal_node] in package [semantic_point_annotator]
I installed the package ros-hydro-pr2-navigation-self-filter
in the robot and started all over again. The error appeared again.
As RViz runs in the laptop (NOTE: I tested the configuration variables and they were OK since I can make rostopic echo
and rostopic pub
correctly), I wanted to simulate the action of the button by publishing into the /move_base_simple/goal
directly from c1 and nothing happened.
I read several answers in similar posts but none of them worked for me.
Am I missing something? Can I try something else to reveal the error source?
Thanks in advance,
Did you manage to solve this? We are facing the same issue with our PR2.
EDIT: For future reference, we don't have this issue if we run the launch file from the C2 computer in the PR2.