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answered 2012-08-15 02:03:56 -0600

maurizio gravatar image

Hi, yesterday I was able to run tf with proper namespace. Taking into account your notes, I can not see any published message about tf. It seems could be related to robot description, in the main file I have:

<param name="robot_description"
    command="$(find xacro)/xacro.py $(find turtlebot_description)/urdf/turtlebot.urdf.xacro" />

I also tried with /robot_description but nothing... I will try to compare the configurations more carefully and I will come back but if you see something wrong, please let me know.

Hi, yesterday I was able to run tf with proper namespace. Taking into account your notes, I can not see any published message about tf. It seems could be related to robot description, in the main file I have:

<param name="robot_description"
    command="$(find xacro)/xacro.py $(find turtlebot_description)/urdf/turtlebot.urdf.xacro" />

I also tried with /robot_description but nothing... I will try to compare the configurations more carefully and I will come back but if you see something wrong, please let me know.

I am updating this post as soon as I observe new things: currently I can not even see any data in the Robot1/joint_states

Hi, yesterday I was able to run tf with proper namespace. Taking into account your notes, I can not see any published message about tf. It seems could be related to robot description, in the main file I have:

<param name="robot_description"
    command="$(find xacro)/xacro.py $(find turtlebot_description)/urdf/turtlebot.urdf.xacro" />

I also tried with /robot_description but nothing... I will try to compare the configurations more carefully and I will come back but if you see something wrong, please let me know.

I am updating this post as soon as I observe new things: currently I can not even see any data neither in the Robot1/joint_states Robot1/joint_states nor /joint_states

Hi, yesterday I was able to run tf with proper namespace. Taking into account WRT your notes, I can not see any published message about tf. It seems could be related got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to robot description, in add the main file I have:option -unpause like the following:

<param name="robot_description"
 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
 command="$(find xacro)/xacro.py $(find turtlebot_description)/urdf/turtlebot.urdf.xacro"  args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I also tried with /robot_description but nothing... I will try to compare the configurations more carefully and I will come back but if you see something wrong, please let me know.

I am updating this post as soon as I observe new things: currently I can not even see any data neither in Robot1/joint_states nor /joint_states

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS:

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS:THIS (I have tried both setting use_map_topic either to true or false but doesn't work):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS (I have tried both setting use_map_topic either to true or false but doesn't work):work. If true, I have also tried to add the line <remap from="map" to="/map"/> but nothing):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS (I have tried both setting use_map_topic either to true or false but doesn't work. If true, I have also tried to add the line <remap from="map" to="/map"/> but nothing):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

THIS IS POSE_ROBOT_EKF

 <node  pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
    <param name="output_frame" value="odom" />
  </node>

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS (I have tried both setting use_map_topic either to true or false but doesn't work. If true, I have also tried to add the line <remap from="map" to="/map"/> but nothing):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

THIS IS POSE_ROBOT_EKF

 <node  pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
    <param name="output_frame" value="odom" />
  </node>

move_base.cpp lines related to global_map:

Added lines related to global (starting from line 63):

std::string global_planner, local_planner; private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS")); private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); private_nh.param("global_costmap/global_frame", global_frame_, std::string("/map")); private_nh.param("planner_frequency", planner_frequency_, 0.0); private_nh.param("controller_frequency", controller_frequency_, 20.0); private_nh.param("planner_patience", planner_patience_, 5.0); private_nh.param("controller_patience", controller_patience_, 15.0);

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS (I have tried both setting use_map_topic either to true or false but doesn't work. If true, I have also tried to add the line <remap from="map" to="/map"/> but nothing):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

THIS IS POSE_ROBOT_EKF

 <node  pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
    <param name="output_frame" value="odom" />
  </node>

move_base.cpp lines related to global_map:

Added lines related to global (starting from line 63):

std::string global_planner, local_planner; private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS")); private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); private_nh.param("global_costmap/global_frame", global_frame_, std::string("/map")); private_nh.param("planner_frequency", planner_frequency_, 0.0); private_nh.param("controller_frequency", controller_frequency_, 20.0); private_nh.param("planner_patience", planner_patience_, 5.0); private_nh.param("controller_patience", controller_patience_, 15.0);

local_map.yaml FILE:

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.1
   transform_tolerance: 0.5

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS (I have tried both setting use_map_topic either to true or false but doesn't work. If true, I have also tried to add the line <remap from="map" to="/map"/> but nothing):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

THIS IS POSE_ROBOT_EKF

 <node  pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
    <param name="output_frame" value="odom" />
  </node>

move_base.cpp lines related to global_map:

Added lines related to global (starting from line 63):

std::string global_planner, local_planner; private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS")); private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); private_nh.param("global_costmap/global_frame", global_frame_, std::string("/map")); private_nh.param("planner_frequency", planner_frequency_, 0.0); private_nh.param("controller_frequency", controller_frequency_, 20.0); private_nh.param("planner_patience", planner_patience_, 5.0); private_nh.param("controller_patience", controller_patience_, 15.0);

local_map.yaml FILE:

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.1
   transform_tolerance: 0.5

ROBOT_POSE_EKF EXCERPT FROM RXGRAPH:

Node [/robot1/robot_pose_ekf]
Publications: 
 * /tf [tf/tfMessage]
 * /robot1/robot_pose_ekf/odom [geometry_msgs/PoseWithCovarianceStamped]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /tf [tf/tfMessage]
 * /robot1/odom [nav_msgs/Odometry]
 * /clock [rosgraph_msgs/Clock]

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS (I have tried both setting use_map_topic either to true or false but doesn't work. If true, I have also tried to add the line <remap from="map" to="/map"/> but nothing):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

THIS IS POSE_ROBOT_EKF

 <node  pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
    <param name="output_frame" value="odom" />
  </node>

move_base.cpp lines related to global_map:

Added lines related to global (starting from line 63):

std::string global_planner, local_planner; private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS")); private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); private_nh.param("global_costmap/global_frame", global_frame_, std::string("/map")); private_nh.param("planner_frequency", planner_frequency_, 0.0); private_nh.param("controller_frequency", controller_frequency_, 20.0); private_nh.param("planner_patience", planner_patience_, 5.0); private_nh.param("controller_patience", controller_patience_, 15.0);

local_map.yaml FILE:

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.1
   transform_tolerance: 0.5

ROBOT_POSE_EKF EXCERPT FROM RXGRAPH:

Node [/robot1/robot_pose_ekf]
Publications: 
 * /tf [tf/tfMessage]
 * /robot1/robot_pose_ekf/odom [geometry_msgs/PoseWithCovarianceStamped]
 * /rosout [rosgraph_msgs/Log]
  * /robot1/robot_pose_ekf/odom_combined [geometry_msgs/PoseWithCovarianceStamped]
 
Subscriptions: 
 * /tf [tf/tfMessage]
 * /robot1/odom [nav_msgs/Odometry]
 * /clock [rosgraph_msgs/Clock]
[rosgraph_msgs/Clock]

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS (I have tried both setting use_map_topic either to true or false but doesn't work. If true, I have also tried to add the line <remap from="map" to="/map"/> but nothing):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

THIS IS POSE_ROBOT_EKF

 <node  pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
    <param name="output_frame" value="odom" />
  </node>

move_base.cpp lines related to global_map:

Added lines related to global (starting from line 63):

std::string global_planner, local_planner; private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS")); private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); private_nh.param("global_costmap/global_frame", global_frame_, std::string("/map")); private_nh.param("planner_frequency", planner_frequency_, 0.0); private_nh.param("controller_frequency", controller_frequency_, 20.0); private_nh.param("planner_patience", planner_patience_, 5.0); private_nh.param("controller_patience", controller_patience_, 15.0);

local_map.yaml FILE:

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.1
   transform_tolerance: 0.5

ROBOT_POSE_EKF EXCERPT FROM RXGRAPH:

Node [/robot1/robot_pose_ekf]
Publications: 
 * /tf [tf/tfMessage]
 * /rosout [rosgraph_msgs/Log]
 * /robot1/robot_pose_ekf/odom_combined [geometry_msgs/PoseWithCovarianceStamped]
 
[geometry_msgs/PoseWithCovarianceStamped]

Subscriptions: 
 * /tf [tf/tfMessage]
 * /robot1/odom [nav_msgs/Odometry]
  * /clock [rosgraph_msgs/Clock]
 [rosgraph_msgs/Clock]

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS (I have tried both setting use_map_topic either to true or false but doesn't work. If true, I have also tried to add the line <remap from="map" to="/map"/> but nothing):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

THIS IS POSE_ROBOT_EKF

 <node  pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
    <param name="output_frame" value="odom" />
  </node>

move_base.cpp lines related to global_map:

Added lines related to global (starting from line 63):

std::string global_planner, local_planner; private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS")); private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); private_nh.param("global_costmap/global_frame", global_frame_, std::string("/map")); private_nh.param("planner_frequency", planner_frequency_, 0.0); private_nh.param("controller_frequency", controller_frequency_, 20.0); private_nh.param("planner_patience", planner_patience_, 5.0); private_nh.param("controller_patience", controller_patience_, 15.0);

local_map.yaml FILE:

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.1
   transform_tolerance: 0.5

ROBOT_POSE_EKF EXCERPT FROM RXGRAPH:

Node [/robot1/robot_pose_ekf]
Publications: 
 * /tf [tf/tfMessage]
 * /rosout [rosgraph_msgs/Log]
 * /robot1/robot_pose_ekf/odom_combined [geometry_msgs/PoseWithCovarianceStamped]

Subscriptions: 
 * /tf [tf/tfMessage]
 * /robot1/odom [nav_msgs/Odometry]
     * /clock [rosgraph_msgs/Clock]

======================================================================= AMCL

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
<param name="base_frame_id" value="base_footprint"/> 
<param name="odom_frame_id" value="odom_combined"/> 
<param name="global_frame_id" value="/map" />
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
<remap from="static_map" to="/static_map" /> 
<remap from="map" to="/map" />

  </node>

</launch>

=======================================================================

======================================================================= LOCAL_COSTMAP_PARAMS.YAML

local_costmap:
   global_frame: odom_combined
   robot_base_frame: base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.1
   transform_tolerance: 0.5

=======================================================================

======================================================================= GLOBAL_COSTMAP_PARAMS.YAML 

global_costmap:
   global_frame: /map
   robot_base_frame: base_link
   update_frequency: 3.0
   publish_frequency: 0.0
   static_map: true
   transform_tolerance: 0.5

=======================================================================

======================================================================= COSTMAP_COMMON_PARAMS.YAML

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.16, -0.16], [-0.16, 0.16], [0.19, 0.16], [0.24, 0.0], [0.19, -0.16]]
footprint_padding: 0.01
inflation_radius: 0.50
observation_sources: scan
scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true}

===========================================================================

WRT your notes, I got stuck since I didn't get neither /Robot1/joint_states nor /Robot2/joint_states, I had to add the option -unpause like the following:

 <node name="spawn_minibot_model" pkg="gazebo" type="spawn_model"
     args="$(arg init_pose) -urdf -unpause -param /robot_description -model $(arg robot_name)"
     respawn="false" output="screen" />

I am almost done, but I have a problem with the map, following your notes I have. I guess there is still a problem with namespace, in particular It asks for /base/link but it shouldn't,

[ WARN] [1345042406.057976802, 32.122000000]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1345042406.058039834, 32.122000000]: Received a 640 X 544 map at 0.050000 m/pix

[ WARN] [1345042411.112545628, 37.177000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042416.151239313, 42.215000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042421.160855380, 47.224000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1345042426.241246711, 52.305000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

THE AMCL FILE IS LIKE THIS (I have tried both setting use_map_topic either to true or false but doesn't work. If true, I have also tried to add the line <remap from="map" to="/map"/> but nothing):

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
  </node>

</launch>

THIS IS POSE_ROBOT_EKF

 <node  pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
    <param name="output_frame" value="odom" />
  </node>

move_base.cpp lines related to global_map:

Added lines related to global (starting from line 63):

std::string global_planner, local_planner; private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS")); private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); private_nh.param("global_costmap/global_frame", global_frame_, std::string("/map")); private_nh.param("planner_frequency", planner_frequency_, 0.0); private_nh.param("controller_frequency", controller_frequency_, 20.0); private_nh.param("planner_patience", planner_patience_, 5.0); private_nh.param("controller_patience", controller_patience_, 15.0);

local_map.yaml FILE:

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.1
   transform_tolerance: 0.5

ROBOT_POSE_EKF EXCERPT FROM RXGRAPH:

Node [/robot1/robot_pose_ekf]
Publications: 
 * /tf [tf/tfMessage]
 * /rosout [rosgraph_msgs/Log]
 * /robot1/robot_pose_ekf/odom_combined [geometry_msgs/PoseWithCovarianceStamped]

Subscriptions: 
 * /tf [tf/tfMessage]
 * /robot1/odom [nav_msgs/Odometry]
     * /clock [rosgraph_msgs/Clock]

======================================================================= AMCL

<launch>

  <arg name="use_map_topic" default="true"/>
  <arg name="scan_topic" default="narrow_scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
<param name="base_frame_id" value="base_footprint"/> 
<param name="odom_frame_id" value="odom_combined"/> 
<param name="global_frame_id" value="/map" />
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
<remap from="static_map" to="/static_map" /> 
<remap from="map" to="/map" />

  </node>

</launch>

=======================================================================

======================================================================= LOCAL_COSTMAP_PARAMS.YAML

local_costmap:
   global_frame: odom_combined
   robot_base_frame: base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.1
   transform_tolerance: 0.5

=======================================================================

======================================================================= GLOBAL_COSTMAP_PARAMS.YAML 

global_costmap:
   global_frame: /map
   robot_base_frame: base_link
   update_frequency: 3.0
   publish_frequency: 0.0
   static_map: true
   transform_tolerance: 0.5

=======================================================================

======================================================================= COSTMAP_COMMON_PARAMS.YAML

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.16, -0.16], [-0.16, 0.16], [0.19, 0.16], [0.24, 0.0], [0.19, -0.16]]
footprint_padding: 0.01
inflation_radius: 0.50
observation_sources: scan
scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true}

===========================================================================

=============================================================================

NEW VERSIONE OF AMCL

<launch>

  <arg name="use_map_topic" default="false"/>
  <arg name="scan_topic" default="scan" />

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
        <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
<param name="base_frame_id" value="base_footprint"/> 
<param name="odom_frame_id" value="odom_combined"/> 
<param name="global_frame_id" value="/map" />
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>    
<remap from="static_map" to="/static_map" /> 
<remap from="map" to="/map" />

  </node>

</launch>

================================================================
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