Setting up 2dnav goal: "In the Tool Properties panel of rviz after setting the topic of 2D Nav Goal to the topic that your \movebasenode is subscribed to to receive goal states. In our case it is /movebasesimple/goal. You can now click 2d Nav Goal button and then draw an arrow on the map. Which specifies the position and the direction of the robot. The robot will try to move to achieve it."

I have drawn an arrow, but the robot is not moving..... Is there any bug in the erratic navigation apps package???

And also after giving the following command, i am getting some error which also been uploaded next-----------------------------------------------

roslaunch erraticnavigationapps demo2dnavslam.launch

... logging to /home/muin/.ros/log/f166d278-512c-11e2-b1c6-003048da718e/roslaunch-Gaitlab-9184.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://Gaitlab:54654/

SUMMARY

PARAMETERS * /usesimtime * /movebasenode/globalcostmap/observationsources * /slamgmapping/sigma * /movebasenode/localcostmap/originy * /movebasenode/localcostmap/originx * /movebasenode/localcostmap/updatefrequency * /movebasenode/globalcostmap/basescan/maxobstacleheight * /wgwalls * /slamgmapping/lskip * /movebasenode/localcostmap/basescan/marking * /movebasenode/localcostmap/observationsources * /movebasenode/TrajectoryPlannerROS/vxsamples * /movebasenode/localcostmap/basescan/clearing * /slamgmapping/ogain * /movebasenode/globalcostmap/basescan/topic * /movebasenode/globalcostmap/obstaclerange * /slamgmapping/lasamplerange * /movebasenode/localcostmap/basescanmarking/expectedupdaterate * /movebasenode/TrajectoryPlannerROS/simtime * /baselaserselffilter/selfseedefaultscale * /movebasenode/TrajectoryPlannerROS/maxvelx * /slamgmapping/mapupdateinterval * /movebasenode/globalcostmap/basescanmarking/datatype * /movebasenode/TrajectoryPlannerROS/acclimth * /movebasenode/globalcostmap/basescan/observationpersistence * /slamgmapping/temporalUpdate * /movebasenode/localcostmap/inflationradius * /movebasenode/recoverybehaviors * /movebasenode/localcostmap/basescan/sensorframe * /movebasenode/globalcostmap/maptype * /robotstatepublisher/publishfrequency * /movebasenode/TrajectoryPlannerROS/escapevel * /slamgmapping/lsigma * /movebasenode/TrajectoryPlannerROS/acclimy * /movebasenode/TrajectoryPlannerROS/acclimx * /movebasenode/globalcostmap/staticmap * /movebasenode/globalcostmap/basescan/datatype * /slamgmapping/srt * /slamgmapping/srr * /movebasenode/TrajectoryPlannerROS/simgranularity * /movebasenode/localcostmap/basescan/observationpersistence * /movebasenode/TrajectoryPlannerROS/minvelx * /movebasenode/localcostmap/maptype * /slamgmapping/lasamplestep * /baselaserselffilter/selfseedefaultpadding * /slamgmapping/angularUpdate * /movebasenode/globalcostmap/basescanmarking/minobstacleheight * /baseshadowfilter/scanfilterchain * /movebasenode/globalcostmap/inflationradius * /movebasenode/localcostmap/basescanmarking/sensorframe * /movebasenode/localcostmap/basescan/datatype * /movebasenode/globalcostmap/basescanmarking/maxobstacleheight * /movebasenode/globalcostmap/robotbaseframe * /baselaserselffilter/selfseelinks * /slamgmapping/particles * /rosdistro * /movebasenode/globalcostmap/transformtolerance * /movebasenode/globalcostmap/unknowncostvalue * /movebasenode/globalcostmap/basescanmarking/expectedupdaterate * /movebasenode/localcostmap/globalframe * /movebasenode/TrajectoryPlannerROS/holonomicrobot * /movebasenode/localcostmap/rollingwindow * /movebasenode/TrajectoryPlannerROS/dwa * /movebasenode/globalcostmap/basescan/minobstacleheight * /movebasenode/localcostmap/basescanmarking/clearing * /movebasenode/globalcostmap/basescanmarking/observationpersistence * /movebasenode/localcostmap/width * /slamgmapping/resampleThreshold * /movebasenode/globalcostmap/basescan/clearing * /movebasenode/localcostmap/publishfrequency * /movebasenode/localcostmap/basescanmarking/observationpersistence * /movebasenode/localcostmap/basescanmarking/marking * /slamgmapping/linearUpdate * /movebasenode/localcostmap/basescanmarking/minobstacleheight * /movebasenode/localcostmap/basescanmarking/topic * /movebasenode/globalcostmap/basescanmarking/clearing * /movebasenode/localcostmap/height * /movebasenode/localcostmap/staticmap * /slamgmapping/baseframe * /movebasenode/TrajectoryPlannerROS/yawgoaltolerance * /movebasenode/globalcostmap/globalframe * /movebasenode/controllerfrequency * /slamgmapping/astep * /movebasenode/controllerpatience * /baseshadowfilter/targetframe * /movebasenode/clearingradius * /movebasenode/TrajectoryPlannerROS/maxrotationalvel * /robotstatepublisher/tfprefix * /slamgmapping/llsamplestep * /slamgmapping/xmin * /movebasenode/globalcostmap/publishfrequency * /movebasenode/TrajectoryPlannerROS/goaldistancebias * /movebasenode/localcostmap/transformtolerance * /slamgmapping/delta * /movebasenode/globalcostmap/raytracerange * /movebasenode/globalcostmap/basescanmarking/sensorframe * /slamgmapping/xmax * /movebasenode/localcostmap/basescan/maxobstacleheight * /movebasenode/localcostmap/obstaclerange * /movebasenode/TrajectoryPlannerROS/vthetasamples * /movebasenode/localcostmap/robotbaseframe * /movebasenode/TrajectoryPlannerROS/headinglookahead * /movebasenode/footprint * /slamgmapping/stt * /slamgmapping/ymax * /movebasenode/globalcostmap/basescan/sensorframe * /slamgmapping/lstep * /slamgmapping/llsamplerange * /movebasenode/localcostmap/basescanmarking/datatype * /slamgmapping/maxUrange * /movebasenode/globalcostmap/rollingwindow * /movebasenode/globalcostmap/basescan/expectedupdaterate * /movebasenode/localcostmap/raytracerange * /robotdescription * /movebasenode/TrajectoryPlannerROS/mininplacerotationalvel * /movebasenode/conservativeclear/resetdistance * /baselaserselffilter/sensorframe * /movebasenode/TrajectoryPlannerROS/pathdistancebias * /movebasenode/localcostmap/basescan/minobstacleheight * /movebasenode/globalcostmap/basescan/marking * /movebasenode/localcostmap/basescanmarking/maxobstacleheight * /baselaserselffilter/minsensordist * /movebasenode/NavfnROS/allowunknown * /slamgmapping/kernelSize * /rosversion * /movebasenode/localcostmap/resolution * /movebasenode/footprintpadding * /movebasenode/aggressiveclear/resetdistance * /slamgmapping/iterations * /movebasenode/TrajectoryPlannerROS/oscillationresetdist * /movebasenode/globalcostmap/basescanmarking/topic * /movebasenode/globalcostmap/updatefrequency * /movebasenode/localcostmap/basescan/expectedupdaterate * /slamgmapping/ymin * /movebasenode/localcostmap/basescan/topic * /movebasenode/globalcostmap/basescanmarking/marking * /slamgmapping/str * /movebasenode/localcostmap/publishvoxelmap * /slamgmapping/odomframe * /baseshadowfilter/highfidelity * /movebasenode/TrajectoryPlannerROS/occdistscale * /movebasenode/TrajectoryPlannerROS/xygoal_tolerance

NODES /movebasenode/localcostmap/ voxelgridthrottle (topictools/throttle) / gazebo (gazebo/gazebo) xml2factorwgwalls (gazebo/spawnmodel) spawnrobot (gazebo/spawnmodel) robotstatepublisher (robotstatepublisher/statepublisher) baseshadowfilter (laserfilters/scantocloudfilterchain) laserscancloudtocloud2 (pointcloudconverter/pointcloudconverter) baselaserselffilter (robotselffilter/selffilter) slamgmapping (gmapping/slamgmapping) movebasenode (movebase/movebase) voxelvisualizer (costmap2d/costmap2d_markers)

auto-starting new master process[master]: started with pid [9201] ROSMASTERURI=http://localhost:11311

setting /runid to f166d278-512c-11e2-b1c6-003048da718e process[rosout-1]: started with pid [9214] started core service [/rosout] process[gazebo-2]: started with pid [9228] process[xml2factorwgwalls-3]: started with pid [9229] process[spawnrobot-4]: started with pid [9230] process[robotstatepublisher-5]: started with pid [9231] process[baseshadowfilter-6]: started with pid [9232] process[laserscancloudtocloud2-7]: started with pid [9233]

PROBLEM 1

ERROR: cannot launch node of type [robotselffilter/selffilter]: Cannot locate node of type [selffilter] in package robotselffilter

process[slam_gmapping-9]: started with pid [9241] Gazebo multi-robot simulator, version 0.10.0

Part of the Player/Stage Project [http://playerstage.sourceforge.net]. Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors. Released under the GNU General Public License.

process[movebasenode/localcostmap/voxelgridthrottle-10]: started with pid [9252] process[movebasenode-11]: started with pid [9261] [rospack] opendir error [No such file or directory] while crawling /opt/ros/diamondback/share process[voxelvisualizer-12]: started with pid [9267]

PROBLEM 2

[rospack] opendir error [No such file or directory] while crawling /opt/ros/diamondback/share [rospack] opendir error [No such file or directory] while crawling /opt/ros/diamondback/share [rospack] opendir error [No such file or directory] while crawling /opt/ros/diamondback/share [rospack] opendir error [No such file or directory] while crawling /opt/ros/diamondback/share [rospack] opendir error [No such file or directory] while crawling /opt/ros/diamondback/share

loading model xml from ros parameter attempting to spawn robot in simulation waiting for service spawnurdfmodel loading model xml from ros parameter [rospack] opendir error [No such file or directory] while crawling /opt/ros/diamondback/share attempting to spawn robot in simulation waiting for service spawngazebomodel [ INFO] [1356726425.613714515]: Subscribed to Topics: basescan basescan_marking [ INFO] [1356726425.624023258]: Requesting the map...

[ INFO] [1356726425.625376519]: Still waiting on map...

directory [/tmp/gazebo-muin-0] already exists (previous crash?) the owner gazebo server (pid=8403) is not running. deleting the old information of the directory [/tmp/gazebo-muin-0] Param [quickStep] is deprecated: [replace quickStep with stepType] Param [quickStepIters] is deprecated: [replace quickStepIters with stepIters] Param [quickStepW] is deprecated: [replace quickStepW with stepW] Gazebo successfully initialized [ INFO] [1356726427.373255752, 0.770000000]: INFO: gazeboroslaser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters. [ INFO] [1356726427.542618859, 0.770000000]: starting gazeboroscontroller_manager plugin in ns: /

PROBLEM 3

[rospack] opendir error [No such file or directory] while crawling /opt/ros/diamondback/share [rospack] opendir error [No such file or directory] while crawling /opt/ros/diamondback/share

[ INFO] [1356726427.837814245, 0.770000000]: Callback thread id=0xa652ce20 spawn status: SpawnModel: successfully spawned model spawning success True [spawnrobot-4] process has finished cleanly. log file: /home/muin/.ros/log/f166d278-512c-11e2-b1c6-003048da718e/spawnrobot-4.log spawn status: SpawnModel: successfully spawned model spawning success True [xml2factorwgwalls-3] process has finished cleanly. log file: /home/muin/.ros/log/f166d278-512c-11e2-b1c6-003048da718e/xml2factorwgwalls-3.log

PROBLEM 4

[ WARN] [1356726432.821890887, 0.970000000]: Message from [/gazebo] has a non-fully-qualified frameid [basescanlink]. Resolved locally to [/basescanlink]. This is will likely not work in multi-robot systems. This message will only print once. -maxUrange 4 -maxUrange 3.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.01 -srt 0.02 -str 0.01 -stt 0.02 -linearUpdate 0.5 -angularUpdate 0.436 -resampleThreshold 0.5 -xmin -10 -xmax 10 -ymin -10 -ymax 10 -delta 0.025 -particles 80 [ INFO] [1356726432.831200118, 0.975000000]: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= 4.98851e-05 4.89397e-09 0.000151368 mcount 0 Registering First Scan [ INFO] [1356726434.597312347, 1.773000000]: Still waiting on map...

[ INFO] [1356726435.099164523, 2.002000000]: Received a 800 X 800 map at 0.025000 m/pix

[ INFO] [1356726435.362914384, 2.111000000]: MAP SIZE: 800, 800 [ INFO] [1356726435.369182425, 2.114000000]: Subscribed to Topics: basescan basescan_marking [ INFO] [1356726435.473487964, 2.164000000]: Sim period is set to 0.10

PROBLEM 5

[ WARN] [1356726435.991102880, 2.379000000]: Message from [/gazebo] has a non-fully-qualified frameid [basescanlink]. Resolved locally to [/basescan_link]. This is will likely not work in multi-robot systems. This message will only print once.