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Using navigation stack without laser/point cloud

asked 2014-06-09 15:26:05 -0500

TopSecret gravatar image

Hello, I am currently using the navigation stack for simulation with a fake laser. However, I'd like to remove the laser since I plan on using data from a motion capture system. The entire area where the robot is moving can be precisely check for obstacle without the laser or a local costmap and a map (nav_msgs/occupancygrid) is generated. Every time I try to remove it one way or another, I get endless warnings of "The base_scan observation buffer has not been updated for X seconds, and it should be updated every 0.40 seconds." and "[/move_base_node]:Sensor data is out of date, we're not going to allow commanding of the base for safety", so nothing moves. Is it possible to use this stack without a laser/point cloud?

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answered 2014-06-09 16:41:55 -0500

ahendrix gravatar image

In Hydro, the obstacle avoidance behavior of the nav stack is determined by which costmaps are in use. In theory, you should be able to configure the nav stack to use only static costmaps.

If you're trying different configurations without restarting, you may find that you need to clear out the parameter server between runs to make sure you get a clean configuration. You can either restart your roscore, or clear out just the move base configuration with something like rosparam delete /move_base

I don't believe this is possible in earlier versions of the nav stack, before Hydro.

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answered 2018-10-19 02:13:11 -0500

Will Chamberlain gravatar image

Working example: download and build and source rbx1 , and arbotix_ros for their Turtlebot configuration . Run roslaunch rbx1_nav fake_nav_test.launch to kick off the example, and visualise and control through rviz .

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answered 2014-06-13 12:30:25 -0500

David Lu gravatar image

If you do not want to use the laser, you can remove it from your observation_sources parameter, and that will stop the warning messages.

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Asked: 2014-06-09 15:26:05 -0500

Seen: 1,079 times

Last updated: Oct 19 '18