move_base is not sending data to cmd_vel
Hi, I am working on a ros project where I need to use move_base on my custom drone. I already set up its tf transformations, maps, amcl, and YAML files but when I sent a 2d nav goal my drone isn't moving.
I tried echoing the move_base/goal topic and when I click a goal in the map it does receive data.
But when I try echoing cmd_vel when clicking a goal in the map, it doesn't receive any data.
I am new to ROS. And I am currently using ros noetic.
Asked by mgrallos on 2023-01-10 22:44:30 UTC
Answers
Alot of things can be wrong here :
setting the proper config for move_base.
Is your robot properly localized.
whats the max velocity and min velocity published in your move_base dwa planner parameter.
where you able to publish to cmd_vel of your robot with teleop node?
Are your topic parameters well configured in your move_base package?
Asked by Davies Ogunsina on 2023-01-12 21:34:30 UTC
Comments
- I just used the default parameters for move_base node. What I configured was the tf frames.
- I don't know but I guess so it does have green particles below my robot and it converges to a more exact location with time
- also the default values. max_vel_x: 0.65, min_vel_x: 0.0, max_vel_y: 0.1, min_vel_y: -0.1
- yes i was able to move the robot using teleop
- help I don't know huhu but it seems that I don't have an odom topic but I remap it to "World".
Asked by mgrallos on 2023-01-12 22:16:07 UTC
What's your fixed frame in rviz ?and also what mapping stack did you use ? Does your robot subscribe to odometry ?
Asked by Davies Ogunsina on 2023-01-12 22:19:55 UTC
The fixed frame is map. I don't know if this is right but I used gmapping for mapping. No, but I found this line somewer however it's not a static_transform_publisher.
Asked by mgrallos on 2023-01-12 22:28:31 UTC
Comments
Does it have a sensor that can be used for localization, such as an IMU or GPU?
Asked by miura on 2023-01-15 03:52:38 UTC