# Turtlebot tutorial - rviz "2D Pose Estimate" button

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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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
[ 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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Is the localization running? Can you see particles? Do they move/change when you drive a bit?
( 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?
( 2011-09-07 11:10:17 -0600 )edit
Yes! Do they center around the arrow, when you draw it?
( 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.
( 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.
( 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!!!!
( 2011-09-14 06:48:33 -0600 )edit

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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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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
( 2011-09-12 16:21:20 -0600 )edit

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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