Groovy navigation setup fails under Hydro

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I have a set of navigation parameters that works perfectly under Groovy but when I switch to Hydro on the same machine and try to use the same parameters in backward-compatibility mode (i.e. by making no changes at all to my YAML files), I run into two problems:

1. The (simulated) robot now has a lot of trouble getting to a goal even in an obstacle-free environment. It tends to overshoot the goal location and do a lot of rotation around the goal.

2. While this is happening, I get a fairly constant stream of messages in the move_base terminal window similar to the following:

   [ WARN] [1384802549.335952797]: Map update loop missed its desired rate of 3.0000Hz... the loop actually took 0.7676 seconds

   [ WARN] [1384802549.336363131]: Control loop missed its desired rate of 3.0000Hz... the loop actually took 0.8910 seconds

   [ WARN] [1384802550.183853582]: Map update loop missed its desired rate of 3.0000Hz... the loop actually took 0.5146 seconds

   [ WARN] [1384802550.184482242]: Control loop missed its desired rate of 3.0000Hz... the loop actually took 0.8481 seconds

etc.

I have posted this as an issue on the ros-planning/navigation Github but so far without solution.

My setup is Ubuntu 12.04 with both Groovy and Hydro Debian installations. I am running a "fake TurtleBot" using the Arbotix package which basically assumes that the robot's odometry is perfect so it's a nice way to test the navigation parameters in an ideal enviroment.

My navigation parameters and move_base launch file can be found at the following links:

• base_local_planner_params.yaml
• costmap_common_params.yaml
• local_costmap_params.yaml
• global_costmap_params.yaml
• fake_move_base_blank_map.launch
• fake_move_base.launch

And my blank map is defined by the two files:

• blank_map.yaml
• blank_map.pgm

Any ideas on how to get his working in Hydro would be greatly appreciated!

--patrick

UPDATE 1: To reproduce the problem, follow these steps:

First install the arbotix package and the rbx1 stack:

$ sudo apt-get install ros-hydro-arbotix
$ cd ~/ros_workspace (or wherever your rosbuild workspace lives)
$ git clone <a href="https://github.com/pirobot/rbx1">https://github.com/pirobot/rbx1</a>
$ cd rbx1
$ git checkout hydro-experimental
$ rosmake rbx1
$ rospack profile

Now test moving the fake Turtlebot around the four corners of a square:

$ roscore
$ roslaunch rbx1_bringup fake_turtlebot.launch
$ roslaunch rbx1_nav fake_move_base_blank_map.launch
$ rosrun rviz rviz -d `rospack find rbx1_nav`/nav.rviz
$ rosrun rbx1_nav move_base_square.py