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You should make sure that your "inflation_radius" parameter is set to be larger than the radius of the robot. I'm actually surprised that you're not getting a warning about this because you should be.

I get a warning about the inflation_radius but this was not an important warning to me. I set the inflattion to a lower value because there would be no space to move my bot if i do it as big as the robots shape or bigger. This was my first thought to lower the inflation so that it would be possible for the bot to move.

Have you tried to "rostopic echo cmd_vel" to see if move_base is trying to publish velocity commands.

I did echo the cmd_vel but nothing is publsihed. When I start the simple_navigation_goals there is a speed value published on the cmd_vel topic.

Why are you running both gmapping and AMCL? It should probably be one or the other.

I am not sure which topics, nodes and so on to run. I tried it like that. So if I start the gmapping I should not start AMCL with the navigation? Ok I will try this now.

Does the global plan created by the navigation stack look reasonable in rviz?

In RVIZ there is no Global or Local Plan created when I set a navigation goal. So I cant tell you if it is a good plan or not. The plan that is created by the simple_navigation_goals function looks pretty good.

Have you looked at the navigation tuning guide to make sure that things are set up more or less correctly for navigation.

I will do that now but the things have to be set correctly cause I use the param-Files of the p2os_launch stack.