ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
Immediate steps:
Try removing that weird while loop, just use ac.waitForServer() if you want to block until a connection is made. While loop without a code block is ambiguous, though I'm not sure if could lead to undefined behaviour.
You should not be running both the static transform and the fake_localization, they are doing the same thing.
That should guarantee the map-> odom transform should be working. I'm guessing your robot_driver is providing odom -> base_link, and you've tested that that is working correctly.
Now, which node is running the above MoveClient code? Just want to make sure it's not interfering with your robot_driver in any way.
Also, can you connect and issue goals to move_base using the handy dandy debug tool rosrun actionlib axclient.py /move_base
?