# The move_base can't connect to /map and /odom in a rapp(2) [closed]

This question is after the question that I have submited in here. Now I will state some new findings for the question " Why the move_base can't connect to /map and /odom in a rapp" when I am want to control real turtlebots base on the project multinav_concert in rocon .

Firstly, since a rapp is started by responding to a request as the mechanisms of ‘Service’ in ROS. I found a way to test if a rapp is working as expected after being launched succesfully. That is : I directly input command

roslaunch multinav_concert soft_navbot_client.launch

in a termianl, then in another terminal input "

rosservice call /softbot/start_app "name: 'multinav_concert/nav_demo'
remappings:
- remap_from: '/amcl_pose'
remap_to: '/softbot/amcl_pose'"


By this way, the rapp nav_demo worked as expected. The original rapp nav_demo is based on fake localization. However, when it comes to real localization, that is using amcl node and move_base node, as I stated before, the move_base still can't connected to topic /map which causes many subsequent problems such as empty topic /amcl_pose.

<launch>
<include file="$(find turtlebot_navigation)/launch/amcl_infocenter.launch"/> <node pkg="robot_pose_publisher" name="robot_pose_publisher" type="robot_pose_publisher"> <rosparam> is_stamped: true base_frame: base_footprint </rosparam> </node> </launch>  Above is the launch file "nav_test.launch" wrapped in a rapp. This file is originated from nav_demo.launch, where the amcl_infocenter.launch is as follows. <launch> <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
<arg name="rgb_processing" value="false" />
<arg name="depth_registration" value="false" />
<arg name="depth_processing" value="false" />

<!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)". Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 --> <arg name="scan_topic" value="/scan" /> </include> <!-- Map server --> <arg name="map_file" default="$(find turtlebot_navigation)/maps/infocenter_map.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" /> <arg name="initial_pose_x" default="0.0"/> <!-- Use 17.0 for willow's map in simulation --> <arg name="initial_pose_y" default="0.0"/> <!-- Use 17.0 for willow's map in simulation --> <arg name="initial_pose_a" default="0.0"/> <include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">
<arg name="initial_pose_x" value="$(arg initial_pose_x)"/> <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
<arg name="initial_pose_a" value="$(arg initial_pose_a)"/> <arg name="use_map_topic" value ="true"/> </include> <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
<arg name="odom_topic" value ="/odom" />
</include>

</launch>


I also tried to launch map individually beforehand, then input roslaunch multinav_concert soft_navbot_client.launch in a terminal, and

rosservice call /softbot/start_app "name: 'multinav_concert/nav_test'
remappings:
- remap_from: '/amcl_pose'
remap_to: '/softbot/amcl_pose'"


in another teriminal. The problem still exists（of couse, I commented the map node in amcl_infocenter. launch beforehand)

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### Closed for the following reason question is not relevant or outdated by Procópio close date 2017-06-26 02:09:58.541043

I am running in to the same problem using multimaster-fkie. When I launch move-base in a namespace, it does not connect to the odom and map topics.

Did you find a fix for it? If so, would you please share your fix?

( 2017-05-31 06:31:48 -0500 )edit

sorry, It has been long time since I publish this problem. I have forgot the process of this problem.

( 2017-06-22 01:59:34 -0500 )edit