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1 | initial version |
How do you launch the simple_navigation_goals
node? move_base
should listen for actions in move_base/goal
topic and for goal poses in move_base_simple/goal
. It looks like you have a remap between the two somewhere.
Also, you say you run TF tranformation between map-->odom. Are you publishing this TF by yourself as a static transform? If you are running also gmapping
, the map-->odom transformation will be also published by this node.
Regarding the other points:
gmapping
) and the lasers, it should be enough.move_base
to not use a static map. Try the move_base_mapless_demo.launch
from the same repository.2 | No.2 Revision |
How do you launch the simple_navigation_goals
node? move_base
should listen for actions in move_base/goal
topic and for goal poses in move_base_simple/goal
. It looks like you have a remap between the two somewhere.
Also, you say you run TF tranformation between map-->odom. Are you publishing this TF by yourself as a static transform? If you are running also gmapping
, the map-->odom transformation will be also published by this node.
Regarding the other points:
gmapping
) and the lasers, it should be enough.move_base
to not use a static map. Try the move_base_mapless_demo.launch
from the same repository.Comments after new edition:
By default, move_base
publishes velocities in cmd_vel
topic. The launchfile you are using actually remaps this default topic to move_base/cmd_vel
. You need to change in move_base.launch
(which is called by move_base_mapless_demo.launch
) the line:
<remap from="cmd_vel" to="~cmd_vel" />
to
<remap from="cmd_vel" to="/RosAria/cmd_vel" />
so move_base
publishes commands in /RosAria/cmd_vel
topic.
Regarding the other issues, if move_base
is reporting "Got new plan", it seems that action server is working correctly. Fixing the commands topic will probably the robot to move correctly. The frame_id of the goal should be irrelevant, as long as you have a correct tf tree, but if you want just to move forward, it will be more intuitive if it is in base_link
.