No frontiers found when running hector_exploration_planner

asked 2014-05-07 23:22:02 -0500

aswin gravatar image

Hi, I am trying to run the hector planner with a map from the stdr simulator. I am using a map with 0.1 resolution.

However, I get the following output:

process[hector_exploration_node-1]: started with pid [2095]
process[simple_exploration_controller-2]: started with pid [2108]
Using plugin "static_layer"
Requesting the map...
Resizing costmap to 155 X 149 at 0.100000 m/pix
Received a 155 X 149 map at 0.100000 m/pix
Using plugin "obstacle_layer"
Subscribed to Topics: scan
Using plugin "inflation_layer"
[hector_exploration_planner] Initializing HectorExplorationPlanner
[hector_exploration_planner] Parameter set. security_const: 0.500000, min_obstacle_dist: 1000, plan_in_unknown: 0,   use_inflated_obstacle: 1, p_goal_angle_penalty_:50 , min_frontier_size: 5, p_dist_for_goal_reached_: 0.250000,same_frontier: 0.250000
 Exploration Service called
[hector_exploration_planner] exploration: starting exploration
[hector_exploration_planner] exploration: no frontiers have been found! starting inner-exploration
[hector_exploration_planner] inner-exploration: starting exploration
[hector_exploration_planner] inner-exploration: no inner-frontiers have been found! exploration failed! 
Generated exploration path with 0 poses
Received plan with zero length
Could not transform the global plan to the frame of the controller

This is my launch file:

   <node pkg="hector_exploration_node" type="exploration_planner_node" name="hector_exploration_node" output="screen">
     <rosparam file="$(find sesto_2dnav)/config/planner_params.yaml" command="load"/>
     <rosparam file="$(find sesto_2dnav)/config/base_local_planner_params.yaml" command="load"/>
     <rosparam file="$(find sesto_2dnav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
     <rosparam file="$(find sesto_2dnav)/config/local_costmap_params.yaml" command="load" ns="local_costmap"/>
     <rosparam file="$(find sesto_2dnav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
     <rosparam file="$(find sesto_2dnav)/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
     <rosparam file="$(find sesto_2dnav)/config/sim_nav_params.yaml" command="load"/>
  <node pkg="hector_exploration_controller" type="simple_exploration_controller" name="simple_exploration_controller" output="screen"/>
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I have the same problem, does anybody know, why the system is publishing: Could not transform the global plan to the frame of the controller?

porzo gravatar image porzo  ( 2016-10-10 19:59:51 -0500 )edit