cost-map parameters and gmapping with youbot
Hi everyone. I'm having a hard time with simulating the SLAM algorithms using KUKA YOUBOT and ROS GAZEBO and RVIZ.
At the first, following the tutorial and modifying it in according to use it on the YOUBOT I was able to move the robot around in the GAZEBO and see the map in the rviz, however the output map was an empty image but still I could see it in the RVIZ.
Afterward I messed up with tf and costmaps trying to have an output map... It didn't work and I couldn't bring it in the previous condition.. I changed TF tree and costmaps parameters.
this is the frames tree:
PDF: docs.google.com/file/d/0B_IPYGaJlxxtRnBjX2wzQjJFT2M/edit (Link Text) Image: docs.google.com/file/d/0B_IPYGaJlxxtUl95dVdoZTd1WEk/edit (Link Text)
and then after I messed up with costs-map parameters. afterward I have Cost-maps as following texts:
Common Parameters:
> map_type: costmap transform_tolerance:
> 0.2 obstacle_range: 2.5 raytrace_range: 3.0 inflation_radius:
> 0.25
>
> observation_sources: base_scan
>
> base_scan: {sensor_frame:
> base_laser_front_link,
> data_type: LaserScan,
> topic: /base_scan,
> expected_update_rate: 0.0,
> observation_persistence: 0.0,
> marking: true,
> clearing: true,
> min_obstacle_height: -0.10,
> max_obstacle_height: 2.0}
Global parameters #Independent settings for the planner's costmap
global_costmap: publish_voxel_map: true global_frame: /map robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true
And the Local one: #Independent settings for the local costmap local_costmap: publish_voxel_map: true global_frame: /odom robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 10.0 height: 10.0 resolution: 0.5 origin_x: 0.0 origin_y: 0.0
Move_Base Parameters:
footprint: [[0.26, 0.18],
[0.26, 0.014],
[0.31, 0.014],
[0.31, -0.014],
[0.26, -0.014],
[0.26, -0.18],
[-0.27, -0.18],
[-0.27, 0.18]]
controller_frequency: 10.0
controller_patience: 15.0
clearing_radius: 0.25
footprint_padding: 0.03
Base local planner parameters:
# Robot Configuration Parameters
TrajectoryPlannerROS:
acc_lim_x: 1.25
acc_lim_y: 1.25
acc_lim_th: 1.6
max_vel_x: 0.5
min_vel_x: 0.1
max_rotational_vel: 1.2
min_in_place_rotational_vel: 0.1
escape_vel: -0.1
holonomic_robot: true
# Goal Tolerance Parameters
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.1
# Forward Simulation Parameters
sim_time: 1.7
sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 6
# Trajectory Scoring Parameters
goal_distance_bias: 0.8
path_distance_bias: 0.6
occdist_scale: 0.01
heading_lookahead: 0.325
dwa: false
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.01
AMCL : <node pkg="tf" type="static_transform_publisher" name="basefootprint_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 100"/> <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /map /odom 1"/>
<node pkg="amcl" type="amcl" name="amcl">
<remap from="scan" to="base_scan"/>
<param name="odom_model_type" value="omni"/>
<param name="odom_alpha5" value="0.1"/>
<param name="transform_tolerance" value="0.2" />
<param name="gui_publish_rate" value="1.0"/>
<param name="laser_max_beams" value="30"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="5000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0 ...
Error log say tf has some problem. use these commands to see your tf $ rosrun tf view_frames $ evince frames.pdf
Thanks @bvbdort for reply... but I've already done that... docs.google.com/file/d/0B_IPYGaJlxxtRnBjX2wzQjJFT2M/edit (Link Text) Image: docs.google.com/file/d/0B_IPYGaJlxxtUl95dVdoZTd1WEk/edit this is frames... It seems to me that it's ok.
http://docs.google.com/file/d/0B_IPYGaJlxxtRnBjX2wzQjJFT2M/edit http://docs.google.com/file/d/0B_IPYGaJlxxtUl95dVdoZTd1WEk/edit
change map to odom frequecy rate to 50hz and are you using bag file ?
@bvbdort How can I do it? no I'm not using any bag file
As you can see from the field "most recent transform" , tf timestamps are very old see , did you try by changing map to odom frequency ?
To be honest I still don't understand... how to do that? I mean where exactly defines it?.. probably I didn't change it before.. because I don't know how should I do... is it a parameters in costs maps?
In AMCL update these and try <node pkg="tf" type="static_transform_publisher" name="basefootprint_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 20"/> <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /map /odom 20"/>