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Problems Understanding the rxgraph results when using gmapping and navigation [closed]

asked 2014-03-10 05:45:11 -0600

ctguell gravatar image

updated 2014-03-10 06:58:01 -0600

Hi Ive been working on making a pioneer use gmapping and navigation and it has gone well and works, but when i look into the rxgraph some questions rise 1) why is there no /map topic publishing and why is move_base susbscribing to a /tf and not to a /map 2) Why is there so many /kinect_base_link nodes and what do these do? 3) why is there one node in a big double red circle?

I attached the rxgraph so any help would be great thanks

7.1.png

My Llaunch files are test.launch

launch> !-- kinect nodes --> include file="$(find openni_camera_deprecated)/launch/openni_node.launch"/>

!-- openni_manager --> node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

!-- throttling --> node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager"> param name="max_rate" value="2"/> remap from="cloud_in" to="/camera/depth/points"/> remap from="cloud_out" to="cloud_throttled"/> /node>

!-- fake laser --> node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager"> param name="output_frame_id" value="/openni_depth_frame"/> remap from="cloud" to="cloud_throttled"/> /node> /launch>

move_basecg.launch launch>

#param name="navfn/allow_unknown" value="true"/>

node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> remap from="/odom" to="/pose" /> remap from="cmd_vel" to="cmd_vel" />

param name="controller_frequency" value="6.0" />

rosparam file="$(find p2os_launch)/costmap_common_params.yaml" command="load" ns="global_costmap" /> rosparam file="$(find p2os_launch)/costmap_common_params.yaml" command="load" ns="local_costmap" /> rosparam file="$(find p2os_launch)/local_costmap_params.yaml" command="load" /> rosparam file="$(find p2os_launch)/global_costmap_params.yaml" command="load" /> rosparam file="$(find p2os_launch)/base_local_planner_params.yaml" command="load" ns="TrajectoryPlannerROS" />

/node> /launch>

launch_kinect.launch

launch>

!-- Publish tranformation --> !--node pkg="tf" type="static_transform_publisher" name="base_to_kinect_broadcaster" args="0.1905 0.0 0.2659 0 0 0 base_link openni_camera 20" /-->

!-- Start the kinect sensor --> include file="$(find pointcloud_to_laserscan)/launch/test.launch"/>

/launch>

slam_cg.launch

launch>

!-- Publish tranformation --> node pkg="tf" type="static_transform_publisher" name="base_to_kinect_broadcaster" args="0.1905 0.0 0.2659 0 0 0 base_link openni_camera 20" />

!-- Start SLAM --> node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen"> !--remap from="scan" to="base_scan"/--> !--param name="odom_frame" value="odom"/--> param name="map_update_interval" value="2.0"/> param name="maxUrange" value="6.0"/> param name="sigma" value="0.05"/> param name="kernelSize" value="1"/> param name="lstep" value="0.05"/> param name="astep" value="0.05"/> param name="iterations" value="5"/> param name="lsigma" value="0.075"/> param name="ogain" value="3.0"/> param name="lskip" value="0"/> param name="srr" value="0.01"/> param name="srt" value="0.02"/> param name="str" value="0.01"/> param name="stt" value="0.02"/> param name="linearUpdate" value="0.25"/> !-- param name="linearUpdate" value="0.5"/--> param name="angularUpdate" value="0.262"/> !--param name="angularUpdate" value="0.436"/--> param name="temporalUpdate" value="-1.0"/> param name="resampleThreshold" value="0.5"/> param name="particles" value="300"/> param name="xmin" value="-50.0"/> param name="ymin" value="-50.0"/> param name="xmax" value="50.0"/> param name="ymax" value="50.0"/> param name="delta" value="0.05"/> param name="llsamplerange" value="0 ... (more)

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-04-20 16:46:52.962514

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answered 2014-03-10 06:12:04 -0600

Tirjen gravatar image

updated 2014-03-17 22:19:50 -0600

For the 3rd question here is the answer: double red circle means that the Master reports the node exists, but rxgraph cannot talk to that node.

Can you please post the launch file you use or the nodes you run?

EDIT:

Can you please use the preformatted text for code? In this way is a little bit unreadable... Anyway at a first look, why don't you use the standard 'openni_launch openni.launch' for the kinect sensor? Moreover it seems that you are running two nodes both for the fake laser (in test.launch and launch_kinect.launch) and for the static_transform_publisher (in launch_kinect.launch and slam_cg.launch).

I suggest you to better look at the tutorials of the navigation stack.

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@Tirjen i uploaded the launch files any help would be grately appreciated, thanks

ctguell gravatar imagectguell ( 2014-03-13 04:46:56 -0600 )edit

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Asked: 2014-03-10 05:45:11 -0600

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Last updated: Mar 17 '14