2D nav goal doesn't work
I have been given the task to fix this custom robot to have the ability to use the 2D nav goal
this has been a project handed down student to student
There is an existing roslaunch that activates all the nodes however 2D nav goal does not work
Here is the roslaunch code and keyboard teleop as well I was told that I need to launch both to achieve 2D nav goal
yinht@yinht-desktop:~$ roslaunch hostbot hostbot.launch
... logging to /home/yinht/.ros/log/475151fc-ef50-11e6-a633-00215cbf656c/roslaunch-yinht-desktop-12680.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.
started roslaunch server http://yinht-desktop:42810/
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: omni
* /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
* /arduino/baud: 115200
* /arduino/port: /dev/ttyUSB0
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/driver/auto_exposure: True
* /camera/driver/auto_white_balance: True
* /camera/driver/color_depth_synchronization: False
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_registration: False
* /camera/driver/device_id: #1
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /diffusion_tf/angle_std_mean_deviation_deg: 10
* /diffusion_tf/angular_scale: 1.0
* /diffusion_tf/base_frame_id: base_link
* /diffusion_tf/base_width: 0.34
* /diffusion_tf/linear_scale: 1.0
* /diffusion_tf/odom_frame_id: odom
* /diffusion_tf/pos_std_mean_deviation: 0.1
* /diffusion_tf/publish_tf: True
* /diffusion_tf/rate: 40
* /diffusion_tf/vit_ang_std_mean_deviation_deg: 3
* /diffusion_tf/vit_std_mean_deviation_deg: 1
* /hokuyo_laser/calibrate_time: False
* /hokuyo_laser/frame_id: base_laser_link
* /hokuyo_laser/intensity: False
* /hokuyo_laser/max_ang: 1.4
* /hokuyo_laser/min_ang: -1.4
* /hokuyo_laser/port: /dev/ttyACM0
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.0
* /move_base/TrajectoryPlannerROS/acc_lim_x: 2.0
* /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
* /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.025
* /move_base/TrajectoryPlannerROS/dwa: True
* /move_base/TrajectoryPlannerROS/escape_vel: -0.05
* /move_base/TrajectoryPlannerROS/gdist_scale: 0.6
* /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
* /move_base/TrajectoryPlannerROS/heading_scoring: False
* /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
* /move_base/TrajectoryPlannerROS/holonomic_robot: False
* /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False
* /move_base/TrajectoryPlannerROS/max_rotational_vel: 0.15
* /move_base/TrajectoryPlannerROS/max_vel_theta: 0.15
* /move_base/TrajectoryPlannerROS/max_vel_x: 0.3
* /move_base/TrajectoryPlannerROS/max_vel_y: 0.0
* /move_base/TrajectoryPlannerROS/meter_scoring: True
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.5
* /move_base/TrajectoryPlannerROS/min_vel_theta: -0.15
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
* /move_base/TrajectoryPlannerROS/min_vel_y: 0.0
* /move_base/TrajectoryPlannerROS/occdist_scale: 0.1
* /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05
* /move_base/TrajectoryPlannerROS/pdist_scale: 0.8
* /move_base/TrajectoryPlannerROS/prune_plan: True
* /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: False
* /move_base/TrajectoryPlannerROS/sim_granularity: 0.025
* /move_base/TrajectoryPlannerROS/sim_time: 1.0
* /move_base/TrajectoryPlannerROS/simple_attractor: False
* /move_base/TrajectoryPlannerROS/vtheta_samples: 20
* /move_base/TrajectoryPlannerROS/vx_samples: 8
* /move_base/TrajectoryPlannerROS/vy_samples: 0
* /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.3
* /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.15
* /move_base/clearing_rotation_allowed: False
* /move_base/controller_frequency: 5.0
* /move_base/global_costmap/footprint: [[0.2, 0.2], [0 ...
For future reference: to format code with the Preformatted Code button (the one with
101010
on it), select all lines that need to be placed in the code block, then press the button (or usectrl+k
).Thank you, now I know.