Why the amcl can't be launched in a robot app [closed]

asked 2014-04-22 02:23:36 -0600

scopus gravatar image

updated 2014-04-24 22:07:12 -0600

We are trying to show multiple robot postions(and status) in a rviz from a sever, I created a robot App based on amcl by the instruction in ROS wiki. The detail of my modification based on multinav_concert in the ROCON's hydro is as follows:

Create a robot app : nav_test.interface which content is:

subscribers:   
 - map
 - map_metadata 
 - move_base_simple/goal 
 - initialpose
publishers: 
 - robot_pose
 - amcl_pose
services: []
action_clients: []
action_servers:  
- move_base

2 , The content of nav_test.launch is:

<launch>
  <include file="$(find turtlebot_navigation)/launch/amcl_infocenter.launch"/>
  <node pkg="robot_pose_publisher" name="robot_pose_publisher" type="robot_pose_publisher">
  <rosparam>
    is_stamped: true
    base_frame: base_footprint
  </rosparam>
  </node>
</launch>

Other places such as implementation.yaml, in the directory orchestration and multinav.rapps, nav_test.rapp are also modified.

But I found amcl_infocenter.launch was not launched. Please tell me the reason, THank you!

Ok, Now I sucessfully launch amcl node in a turtlebot, with concert.launch and multinav_database_client.launch in a server computer. But the amcl node launched by amcl_infocenter.launch doesn't launch map server. I thought the map data was shared among computers. So why the turtlebot running soft_navbot_client.launch can't recieve map data from server? Thank you!

Dear @jihoonl Even running multinav_concert package with original nav_demo, the info of topic /map in the master running soft_navbot_client.launch is shown as:

Type: nav_msgs/OccupancyGrid
Publishers: None
Subscribers:  * /softbot/move_base (http://TTBA:37142/)

Why this topic /map doesn't have publisher? If so, where does the map data in this master come from? It is certainly that the map data is from the master runnning multinav_database_client.launch, but I can't understand how it is transfered to another master running soft_navbot_client.launch

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Closed for the following reason the question is answered, right answer was accepted by scopus
close date 2014-05-11 00:03:08

Comments

Can you spend a little time formatting your question so that it's readable?

ahendrix gravatar imageahendrix ( 2014-04-22 06:36:57 -0600 )edit

Hi, I am very sorry. Actually, I have tried my best to make it readable. I wanted to copy the content of nav_test.launch and implementation.yam,but the text shown above is quite strange. I think the big reason is I don't know how to edit in HTML format. Thank you very much!

scopus gravatar imagescopus ( 2014-04-22 15:55:01 -0600 )edit

The web editor gui contains buttons specifically for code blocks; you shouldn't have to know HTML to use it.

ahendrix gravatar imageahendrix ( 2014-04-23 07:03:11 -0600 )edit

amcl_infocenter should have been launched from the given information. Can you provide more information like the log of app manager terminal, rosnode list, rostopic list, and etc?

jihoonl gravatar imagejihoonl ( 2014-04-23 13:52:04 -0600 )edit

Thank you very much for your re-editing @ahendrix. I will keep my questions readable.

scopus gravatar imagescopus ( 2014-04-24 04:03:23 -0600 )edit

Dear @jihoonl, I am sorry, I think this is due to the low ability of asus computer which is a standard part of a turtlebot2. When I found it was not run succesfully, I'd better wait for a moment. So now I accidently run it succesfully. But now I found another question which will be submit in original question as a supplement. Thank you for you attention.

scopus gravatar imagescopus ( 2014-04-24 04:16:31 -0600 )edit