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Turtlebot tutorial - rviz "2D Pose Estimate" button

asked 2011-09-07 04:57:19 -0600

C gravatar image

updated 2011-09-13 04:59:56 -0600

Hi,

I am able to complete all steps in the turtlebot tutorial, except the autonomous navigation part. I am stuck on where I am supposed to click on the "2D Pose Estimate" button in rviz and drag an arrow to set the initial location for the robot. I see the map that is loaded, and also the green laser scan dots, as well as the arrow that I drag to set the robots position and orientation. The only problem is that the location of the robot doesn't update after I release the drag.

Any suggestions? Thanks! David

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Update Additional questions (9/13)

Thanks for your answer, Hersh. But the fixed frame option was already set to /map and I still can not get the robot to move. In case it helps, here's the output from the terminal that launched rviz. Thanks!


$ rosrun rviz rviz -d `rospack find turtlebot_navigation`/nav_rviz.vcg
[ INFO] [1315931847.897357347]: Loading general config from [/home/user/.rviz/config]
[ INFO] [1315931847.905051080]: Loading display config from [/home/user/.rviz/display_config]
[ WARN] [1315931876.219268690]: Message from [/amcl] has a non-fully-qualified frame_id [map]. Resolved locally to [/map].  This is will likely not work in multi-robot systems.  This message will only print once.
[ INFO] [1315931976.304023293]: Setting pose: 0.360 -0.107 -0.427 [frame=/map]
[ INFO] [1315931996.143238028]: Setting pose: 0.322 -0.112 -0.390 [frame=/map]
[ INFO] [1315932004.627046894]: Setting goal: Frame:/map, Position(-0.084, 0.127, 0.000), Orientation(0.000, 0.000, 0.996, 0.086) = Angle: 2.970

[ INFO] [1315932008.714840910]: Setting goal: Frame:/map, Position(-0.203, 0.249, 0.000), Orientation(0.000, 0.000, 0.987, 0.159) = Angle: 2.822
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Comments

Is the localization running? Can you see particles? Do they move/change when you drive a bit?
dornhege gravatar imagedornhege ( 2011-09-07 05:11:44 -0600 )edit
I'm not sure if the localization is running. I do see a bunch of red arrows, which get updated when I drive a bit. Are these particles?
C gravatar imageC ( 2011-09-07 11:10:17 -0600 )edit
Yes! Do they center around the arrow, when you draw it?
dornhege gravatar imagedornhege ( 2011-09-07 11:21:21 -0600 )edit
Um... I don't think they center around the arrow... Drawing an arrow has no effect. (both for "2D Pose estimate" and "2D Nav Goal" button). Though the robot seems to be roughtly at the correct location on the map.
C gravatar imageC ( 2011-09-07 11:25:24 -0600 )edit
If you run "rostopic echo /initialpose" in a terminal (leave it running) and then try the "2D Pose Estimate" button, you should see a message with printed with header, pose, and covariance sections. Try "rostopic info /initialpose". It should show rviz as the publisher and amcl as the subscriber.
hersh gravatar imagehersh ( 2011-09-13 05:32:44 -0600 )edit
1
Thanks hersh. Yes, those commands show the message, publisher and subscriber correctly. But it still doesn't move the robot!!!!
C gravatar imageC ( 2011-09-14 06:48:33 -0600 )edit

2 Answers

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answered 2011-09-12 08:59:18 -0600

hersh gravatar image

This problem can be caused by having an incorrect "Fixed Frame" in rviz. For the "2d Nav Goal" and "2d Pose Estimate" buttons to work, the Fixed Frame must be set to "map".

The idea is that you are sending pose information to the navigation system, and it needs to know what coordinate frame the information is relative to. The nav system can only use this data if it is in the "map" coordinate frame.

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Comments

amcl should accept an initial pose in any frame; Kevin recently noticed that it doesn't actually work like that: https://code.ros.org/trac/ros-pkg/ticket/5148
Brian Gerkey gravatar imageBrian Gerkey ( 2011-09-12 16:21:20 -0600 )edit
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answered 2011-10-04 21:10:25 -0600

hfor gravatar image

OK, this should be published as 'comment', but i can't acess the commenting tool. Not enought 'Karma* Ok, still want to share you my similar experiences.

My turtlebot have the same problem with the 'set estimate pose' command in RVIZ. I get the pose and robot model nicely published and displayed in RVIZ, but i can't set the initial pose, or any navigation goal. My setup sometimes work, sometimes dont.

The system seems to work on a fresh 'just made map'. trying the day after is more unstable...

Everything else displays nice on RVIZ, if i manually pushes or rotates the turtlebot, RVIZ updates the movement and add all the red arrow just as if it was working. I just cant set the pose estimate or the 2D nav goal.

A difference from your tutorials is that i'm not adressing the by 'DNS name' such as turtlebot@marvin, instead i adresse as described in another tutorial by turtlebot@192.168.1.100

I use a dedicated WLAN with only the turtlebot and a remote computer, same IP:s from day to day. I have checked the network settings as suggested in a similar question http://answers.ros.org/question/2351/amcl-in-the-bottom-right-cornerforever

Is it likely that this is still an network error ?

What about the 'ticket,https://code.ros.org/trac/ros-pkg/ticket/5148 is this in progress?

Any workaround ? is upgrading to 'electric' a way forward ?

Thank you

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Asked: 2011-09-07 04:57:19 -0600

Seen: 6,429 times

Last updated: Oct 04 '11