# Revision history [back]

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:

1. The one you are running seems good. The warning you are getting doesn't seem important if you are only getting it once.
2. If you are providing a source of odometry, a map and the map-->odom TF (by gmapping) and the lasers, it should be enough.
3. You need to set move_base to not use a static map. Try the move_base_mapless_demo.launch from the same repository.

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:

1. The one you are running seems good. The warning you are getting doesn't seem important if you are only getting it once.
2. If you are providing a source of odometry, a map and the map-->odom TF (by gmapping) and the lasers, it should be enough.
3. You need to set move_base to not use a static map. Try the move_base_mapless_demo.launch from the same repository.

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.