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Just to make things clear, move_base is "only" in charge of taking all the info it can get to generate a "cmd_vel" topic for the robot to follow. it is the one utilizing the parameter yamls and operating the planners, costmaps, etc.
The amcl node is the one publishing the Tf between /odom and /map, and it is the one giving you the trouble. It will not publish the needed info nor tell you what's missing until you get it all. I've had similar trouble and I can possibly help if you post the amcl launch-file (amcl_diff) content and a rostopic list while everything is running (in addition to the thorough info you've already posted). As a side-note, if you have a differential drive robot, you might want to turn false the "holonomic" part in the local planner, because it cannot move sideways. I also used dwa_local_planner, don't really know whats the difference except for the amount of parameters that need tuning and what I could google.
| | 2 | No.2 Revision |
Just to make things clear, move_base is "only" in charge of taking all the info it can get to generate a "cmd_vel" topic for the robot to follow. it is the one utilizing the parameter yamls and operating the planners, costmaps, etc.
The amcl node is the one publishing the Tf between /odom and /map, and it is the one giving you the trouble. It will not publish the needed info nor tell you what's missing until you get it all. I've had similar trouble and I can possibly help if you post the amcl launch-file (amcl_diff) content and a rostopic list while everything is running (in addition to the thorough info you've already posted). As a side-note, if you have a differential drive robot, you might want to turn false the "holonomic" part in the local planner, because it cannot move sideways. I also used dwa_local_planner, don't really know whats the difference except for the amount of parameters that need tuning and what I could google.
EDIT: Well, I'm actually not sure now with the extra details. usually its about an inconsistency between some topics and/or link names. I would suggest 2 things: 1. when all is running, type rostopic echo scan and check that you get incoming data. If not, then the problem is in the publishing. 2. you seem to be missing parameters, such as: and perhaps a few more... I'm just not sure what would be the effect in case you haven't added those - I guess some defaults should appear.
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