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Hi @manster2209,

If you start the node but you don't see the service listed in move_base, it's likely that something went wrong during the initialization.

move_base should provide the service server for that service; if that part doesn't start you won't be able to call it using rosjava nor anything else.

Take a look at the documentation for move_base: http://wiki.ros.org/move_base. Then take a look at the output of your program. Do you see any errors? For the current kinetic branch, the code starting the service server is here: https://github.com/ros-planning/navigation/blob/73d46b69e20a039f8a35a3f78145ac84a643720b/move_base/src/move_base.cpp#L146. There are a bunch of conditions that may cause the node to exit before getting there, so I'd start looking at that.

Once you see the service listed, calling it using Rosjava is a separate problem.