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Navigation Stack + Hokuyo_node

asked 2011-06-02 05:50:04 -0600

D_mangus gravatar image

updated 2014-01-28 17:09:46 -0600

ngrennan gravatar image

Ok, so I've been working with the navigation stack and I'm confused as to how to connect the hokuyo_node to everything. I keep getting the error

Message from [/hokuyo_node] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once.

and for everything I've tried nothing seems to get me past this. I was under the impression that AMCL would output what was needed from the laser data. My laser data tested in rviz seems to be fine.

Thanks ahead of time, and if you need more information that is question specific ill try to get it asap.

Edit 1 <----------------------------------------------> I'v been working through the navigation stack tutorials, as well as following the Ardros blog. and most of the stuff is the same for both.

my robot configuration launch file.

<launch>
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link base_laser 100" />
<node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">
    <param name="frame_id" type="str" value="base_laser"/> 
    <!-- Set the port to connect to here -->
    <param name="port" type="string" value="/dev/ttyACM0"/> 
    <param name="intensity" type="bool" value="false"/>
</node>
<node name="arduino" pkg="ardros" type="arduino.py">
    <rosparam file="$(find ardros)/info/ardros.yaml" command="load" />
</node>

</launch>

Then my move_base.launch file

<launch>
<!-- Run the map server -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(find ardros)/maps/map.pgm 0.05"/>
<!--- Run AMCL -->
    <include file="$(find ardros)/launch/amcl_diff.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find ardros)/info/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find ardros)/info/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find ardros)/info/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find ardros)/info/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find ardros)/info/base_local_planner_params.yaml" command="load" />
</node>

</launch>

my amcl_diff.launch file

<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
    <!-- 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="transform_tolerance" value="0.2" />
    <param name="gui_publish_rate" value="50.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="5000"/>
    <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="0.8"/>
    <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_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="0.2"/>
    <param name="update_min_a" value="0.5"/>
    <param name="odom_frame_id" value="odom"/>
    <param ...
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Comments

That message is not actually an error unless you are actually working in a multi-robot system.
Eric Perko gravatar imageEric Perko ( 2011-06-02 06:39:00 -0600 )edit
Could you describe what you actually see, what tutorials you have been following to get the nav stack up and running and possible post both your launch files and nav stack config files (or links to them)?
Eric Perko gravatar imageEric Perko ( 2011-06-02 06:39:50 -0600 )edit
Also, after launching things, could you run roswtf in a separate terminal and post the output?
bhaskara gravatar imagebhaskara ( 2011-06-06 07:40:58 -0600 )edit
I'm not totally sure what I did as I am new to ROS, but i finally got everything working on my robot. That includes the Navigation stack with the Ardros stack, hokuyo_node, and SLAM. The warning appears to not affect anything, but i would like to know the cause of it if at all possible.
D_mangus gravatar imageD_mangus ( 2011-06-08 07:07:02 -0600 )edit

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answered 2011-08-02 11:19:16 -0600

Wim gravatar image

That message is not actually an error unless you are actually working in a multi-robot system. - Eric Perko (Jun 02)

Could you describe what you actually see, what tutorials you have been following to get the nav stack up and running and possible post both your launch files and nav stack config files (or links to them)? - Eric Perko (Jun 02)

Also, after launching things, could you run roswtf in a separate terminal and post the output? - bhaskara (Jun 06)

I'm not totally sure what I did as I am new to ROS, but i finally got everything working on my robot. That includes the Navigation stack with the Ardros stack, hokuyo_node, and SLAM. The warning appears to not affect anything, but i would like to know the cause of it if at all possible. - D_mangus (Jun 08)

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Hey, could you please tell me more about your setup please? i do not see the slam being launched in your launch files. It seems like I might have a similar setup, but I am struggling with the navigaiton

denisolt gravatar imagedenisolt ( 2018-02-21 18:09:39 -0600 )edit

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Asked: 2011-06-02 05:50:04 -0600

Seen: 1,701 times

Last updated: Aug 02 '11