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Please note that the topics "/cmd" and "/cmd_vel" are different (and should be so). Your remapping on the Navigator is most likely wrong. I assume this causes your type-mismatch.
As a side note: I don't know how much ressources you have on the robot and how your robot and PC are connected, but you should consider moving only the Operator over to the robot and then use the /cmd topic (of type "nav2d_operator/cmd") on your ros-bridge. This should cause much less traffic on your bridge and also move the (somewhat critical) obstacle avoidance directly on your robot.
| | 2 | No.2 Revision |
Please note that the topics "/cmd" and "/cmd_vel" are different (and should be so). Your remapping on the Navigator is most likely wrong. I assume this causes your type-mismatch.
As a side note: I don't know how much ressources you have on the robot and how your robot and PC are connected, but you should consider moving only the Operator over to the robot and then use the /cmd topic (of type "nav2d_operator/cmd") on your ros-bridge. This should cause much less traffic on your bridge and also move the (somewhat critical) obstacle avoidance directly on your robot.
Edit: GetMap, SetGoal and Explore are helper nodes to call the navigator's actions.You need SetGoal if you want to send goal positions with RVIZ.
If your costmap is not updated, it's always good to check the sensor height first. The local costmap has a min_obstacle_height and a max_obstacle_height (costmap.yaml), and the sensor height must be in between. (Use RVIZ to check the height of the laser scan line.)
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