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Sorry, just so I'm clear: you are outdoors and using a GPS with a two-tier EKF setup to localize the robot. You want the robot to navigate to a series of waypoints, but the robot will not move. If you give it a manual goal instead, it works.

I am not using the waypoint follower; can you echo any topics that might give insight? If you echo the manual goal that you are sending, look at its frame IDs and time stamps (maybe add it to the question here). Then see if the waypoint follower generates any output that would let you see the same information for the goals that are being sent.

But abstractly, nav shouldn't care that you are using a GPS. Your frame_ids are present, and from a localization perspective, that's all that matters.

I see you have a static map layer; I assume that means you have a map?