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It looks like the issue was a namespacing problem. The TrajectoryPlannerROS was not receiving the correct parameters. The parameters were being loaded to /move_base but not /move_base/TrajectoryPlannerROS.

The solutions that I found were to either add "TrajectorPlannerROS:" to the top of the yaml file containing the parameters for the planner (in my case base_local_planner_params.yaml), just make sure that any parameters in the file have two spaces in front of them or you'll end up with a mysterious error when you try to launch.

TrajectoryPlannerROS:
  holonomic_robot: false

Notice the two spaces in front of the parameter.

The second solution is to namespace the file when you load it, which allows you to reuse the file in multiple namespaces for common parameters. Inside of the launch file, inside of the move_base node:

<rosparam file="base_local_planner_params.yaml" command="load" ns="TrajectoryPlannerROS"/>