2d-navigation-goal robot not moving
Here's my launch file:
<launch>
<master auto="start"/>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find my_robot_name_2dnav)/map/map.yaml"/>
<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_diff.launch">
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<!-- change controller frequency in case it is running in circles-->
<param name="controller_frequency" value="10.0" />
<rosparam file="$(find my_robot_name_2dnav)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find my_robot_name_2dnav)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find my_robot_name_2dnav)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find my_robot_name_2dnav)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find my_robot_name_2dnav)/param/base_local_planner_params.yaml" command="load" />
</node>
</launch>
I did rosrun map_server map_server map so I didn't add map_server to the launch file.
base_local:
TrajectoryPlannerROS:
controller_frequency: 9.0
max_vel_x: 0.45
min_vel_x: 0.1
max_vel_theta: 1.0
min_in_place_vel_theta: 0.05
acc_lim_theta: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
# xy_goal_tolerance: 0.5
yaw_goal_tolerance: 0.5
meter_scoring: false
holonomic_robot: false
costmap:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.1651, 0.1778], [0.1651, -0.1778],[-0.1651,-0.1778], [-0.1651, 0.1778]]
#robot_radius: ir_of_robot
inflation_radius: 0.35
observation_sources: laser_scan_sensor #point_cloud_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
global_costmap:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: true
local_costmap:
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 1.0
publish_frequency: 2.0
static_map: true
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
When I did the 2d navigation goal it moves like what I want and the map shows that also, but then it kept on spinning and won't stop.
It gave me alot of this:
[ WARN] [1560202477.002795121]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0742 seconds
[ WARN] [1560202477.092615987]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.1140 seconds
[ WARN] [1560202478.586816017]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0942 seconds
[ WARN] [1560202478.686886942]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0943 seconds
[ WARN] [1560202478.786992583]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0943 seconds
I tried changing the control frequency to 3 and it's the same thing