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Thank you for your answer. I will look with your link. About the RViz file my problem is to configure it correctly, the problem is that my grid can't subscribe to any topic, so that why I think I might have problem with my .yaml files. I also don't see my robot footprint. I also have another problem with my map, it doesn't load with my launch file but when I use the rosrun command it works so I don't understand why.

Thank you for your answer. I will look with your link. About the RViz file my problem is to configure it correctly, the problem is that my grid can't subscribe to any topic, so that why I think I might have problem with my .yaml files. I also don't see my robot footprint. I also have another problem with my map, it doesn't load with my launch file but when I use the rosrun command it works so I don't understand why.

EDIT : rosnode list :

user@IBX0020-2014:~$ rosnode list /amcl_node /map_server /move_base /rosout /rviz /slam /stageros

rostopic list:

user@IBX0020-2014:~$ rostopic list /amcl_node/parameter_descriptions /amcl_node/parameter_updates /amcl_pose /camera_info /clicked_point /clock /cmd_vel /depth /ground_truth /image /initialpose /laser /map /map_metadata /map_updates /move_base/NavfnROS/plan /move_base/current_goal /move_base/global_costmap/costmap /move_base/global_costmap/costmap_updates /move_base/global_costmap/footprint /move_base/global_costmap/inflation_layer/parameter_descriptions /move_base/global_costmap/inflation_layer/parameter_updates /move_base/global_costmap/obstacle_layer/parameter_descriptions /move_base/global_costmap/obstacle_layer/parameter_updates /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped /move_base/global_costmap/obstacle_layer_footprint/parameter_descriptions /move_base/global_costmap/obstacle_layer_footprint/parameter_updates /move_base/global_costmap/parameter_descriptions /move_base/global_costmap/parameter_updates /move_base/global_costmap/static_layer/parameter_descriptions /move_base/global_costmap/static_layer/parameter_updates /move_base/goal /move_base/local_costmap/costmap /move_base/local_costmap/costmap_updates /move_base/local_costmap/footprint /move_base/local_costmap/inflation_layer/parameter_descriptions /move_base/local_costmap/inflation_layer/parameter_updates /move_base/local_costmap/obstacle_layer/parameter_descriptions /move_base/local_costmap/obstacle_layer/parameter_updates /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped /move_base/local_costmap/obstacle_layer_footprint/parameter_descriptions /move_base/local_costmap/obstacle_layer_footprint/parameter_updates /move_base/local_costmap/parameter_descriptions /move_base/local_costmap/parameter_updates /move_base/local_costmap/static_layer/parameter_descriptions /move_base/local_costmap/static_layer/parameter_updates /move_base_simple/goal /odom /odometry /particlecloud /rosout /rosout_agg /slam/entropy /tf /tf_static

I also have an error at the end of the terminal :

what(): Tried to subscribe to a topic with the same name but different md5sum as a topic that was already subscribed [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7 vs. sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca] [move_base-7] process has died [pid 2230, exit code -6, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/user/.ros/log/79334df2-864b-11e5-acb3-080027727b67/move_base-7.log]. log file: /home/user/.ros/log/79334df2-864b-11e5-acb3-080027727b67/move_base-7*.log

Thank you for your answer. I will look with your link. About the RViz file my problem is to configure it correctly, the problem is that my grid can't subscribe to any topic, so that why I think I might have problem with my .yaml files. I also don't see my robot footprint. I also have another problem with my map, it doesn't load with my launch file but when I use the rosrun command it works so I don't understand why.

EDIT : rosnode list :

user@IBX0020-2014:~$ rosnode list /amcl_node /map_server /move_base /rosout /rviz /slam /stageros

rostopic list:

user@IBX0020-2014:~$ rostopic list /amcl_node/parameter_descriptions /amcl_node/parameter_updates /amcl_pose /camera_info /clicked_point /clock /cmd_vel /depth /ground_truth /image /initialpose /laser /map /map_metadata /map_updates /move_base/NavfnROS/plan /move_base/current_goal /move_base/global_costmap/costmap /move_base/global_costmap/costmap_updates /move_base/global_costmap/footprint /move_base/global_costmap/inflation_layer/parameter_descriptions /move_base/global_costmap/inflation_layer/parameter_updates /move_base/global_costmap/obstacle_layer/parameter_descriptions /move_base/global_costmap/obstacle_layer/parameter_updates /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped /move_base/global_costmap/obstacle_layer_footprint/parameter_descriptions /move_base/global_costmap/obstacle_layer_footprint/parameter_updates /move_base/global_costmap/parameter_descriptions /move_base/global_costmap/parameter_updates /move_base/global_costmap/static_layer/parameter_descriptions /move_base/global_costmap/static_layer/parameter_updates /move_base/goal /move_base/local_costmap/costmap /move_base/local_costmap/costmap_updates /move_base/local_costmap/footprint /move_base/local_costmap/inflation_layer/parameter_descriptions /move_base/local_costmap/inflation_layer/parameter_updates /move_base/local_costmap/obstacle_layer/parameter_descriptions /move_base/local_costmap/obstacle_layer/parameter_updates /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped /move_base/local_costmap/obstacle_layer_footprint/parameter_descriptions /move_base/local_costmap/obstacle_layer_footprint/parameter_updates /move_base/local_costmap/parameter_descriptions /move_base/local_costmap/parameter_updates /move_base/local_costmap/static_layer/parameter_descriptions /move_base/local_costmap/static_layer/parameter_updates /move_base_simple/goal /odom /odometry /particlecloud /rosout /rosout_agg /slam/entropy /tf /tf_static

I also have an error at the end of the terminal :

what(): Tried to subscribe to a topic with the same name but different md5sum as a topic that was already subscribed [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7 vs. sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca] [move_base-7] process has died [pid 2230, exit code -6, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/user/.ros/log/79334df2-864b-11e5-acb3-080027727b67/move_base-7.log]. log file: /home/user/.ros/log/79334df2-864b-11e5-acb3-080027727b67/move_base-7*.log

EDIT 2: Ok now I manage to have a robot foot print and a map, I still have two problem. The first thing is that my grid can't subscribe to topic so I do not have the obstacles. The second is that the pathfinding doesn't work, the robot always go in the same way even if I change the goal.