problems in explore with Gmapping and ROSARIA

asked 2013-12-25 11:43:17 -0600

updated 2013-12-25 12:04:13 -0600

Hi All!

I'm trying to make the explore node to work with my pioneer 3at robot. Im working with Fuerte on Ubuntu 12.04 LTS. I used almost the same parameters as in the explore_slam.launch in the wiki [explore_stage] when starting the robot is turning 360 degree move a bit forward turning again 360 deg then stops! I changed the planner_frequency to 0.08 as suggested in [Fuerte Explore package in a real environment problem] but no success.

I checked "rostopic echo /move_base/status" and did not find many goal cancellations. I can see in rviz that the explore node generates only one blue arrow (frontier), while in stage simulation it was generating several arrows.

I have an other problem (maybe in move_base) the robot is not avoiding obstacles or walls in its way!!

I appreciate any comment or help.

the launch file is:

<master auto="start"/>
<param name="/use_sim_time" value="false"/>

<!-- Run the ROSARIA -->
<node name="RosAria" pkg="ROSARIA" type="RosAria">
  <remap from="/RosAria/cmd_vel" to="cmd_vel"/>    
  <param name="port" value="/dev/ttyUSB0" />

<!-- Run the laser scanner  -->
<node name="sicklms" pkg="sicktoolbox_wrapper" type="sicklms">

<param name="port" value="/dev/ttyUSB1" />
<param name="baud" value="38400" />

<!-- Run the Gmapping SLAM -->
<node pkg="gmapping" type="slam_gmapping" name="gmapping" >

<param name="inverted_laser" value="false" />
<param name="base_frame" value="base_link" />
<param name="map_frame" value="map" />
<param name="odom_frame" value="odom" />
<param name="maxUrange" value="30.0" />
<param name="particles" value="30" />
<param name="delta" value="0.050" />
<param name="xmin" value="-100.0" />
<param name="xmax" value="100.0" />
<param name="ymin" value="-100.0" />
<param name="ymax" value="10    0.0" />
<param name="angularUpdate" value="0.5" />
<param name="linearUpdate" value="1.0" />
<param name="map_update_interval" value="2.0" />
<param name="resampleThreshold" value="0.3" />
<param name="llsamplerange" value ="0.01" />
<param name="llsamplestep" value ="0.01" />
<param name="lasamplerange" value ="0.005" />
<param name="lasamplestep" value ="0.005" />

<!-- Run the map saver -->
<node name="map_saver" pkg="map_server" type="map_saver" args="-f mymap1" />

<!-- Run the Transforms --> 
<node pkg="tf" type="static_transform_publisher" 
     name="base_link_to_laser" args="-0.17 0 0.380 0 0 0 
     base_link laser 100" />

<!-- Run the rivz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find   explore_stage)/explore.vcg" />

<include file="$(find explore_stage)/move1.xml" />
<include file="$(find explore_stage)/explore_slam1.xml" />

edit retag flag offensive close merge delete