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move_base launch fails due to: cannot marshal None unless allow_none is enabled

asked 2014-09-03 02:55:24 -0500

Dear all,

I was following the navigation tutorial for ROS Hydro installed on my UDOO board robot.

I follow the tutorial on the Navigation ROS Wiki but, launching the move_base.launch file, I have a

cannot marshal None unless allow_none is enabled


Those are my yaml files:


  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false


  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05


obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.30
inflation_radius: 0.55
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic; laser_scan, marking: true, clearing: true}


  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: false


  <node pkg="amcl" type="amcl" name="amcl" output="screen">
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="transform_tolerance" value="0.2" />
    <param name="gui_publish_rate" value="10.0"/>
    <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="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.8"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.2"/>
    <param name="update_min_a" value="0.5"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <param name="transform_tolerance" value="0.1"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>

and finally the move_base.launch


  <include file="$(find geduino_navigation)/launch/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find geduino_navigation)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find geduino_navigation)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find geduino_navigation)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find geduino_navigation)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find geduino_navigation)/base_local_planner_params.yaml" command="load" />


When I try to launch move_base.launch I get this error message:

[roslaunch][INFO] 2014-09-03 07:00:27,886: Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2014-09-03 07:00:27,898: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2014-09-03 07:00:27,900: roslaunch starting with args ['/opt/ros/hydro/bin/roslaunch', 'geduino_navigation', 'move_base.launch']
[roslaunch][INFO] 2014-09-03 07:00:27,900: roslaunch env is {'ROS_DISTRO': 'hydro', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'HUSHLOGIN': 'FALSE', 'CPATH': '/home/udoo ...
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Wrong reason. The right reason to close this question is RESOLVED.

afranceson gravatar image afranceson  ( 2014-09-03 04:29:41 -0500 )edit

You can also click the check box next to my answer to mark it as the correct answer.

ahendrix gravatar image ahendrix  ( 2014-09-03 12:40:59 -0500 )edit

2 Answers

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answered 2014-09-03 03:20:04 -0500

ahendrix gravatar image

I don't see anything obvious wrong with your parameter files.

This sort of error usually happens when there's a missing parameter somewhere. The best way to narrow it down is to start commenting out the <rosparam> lines in your move_base launch file until you find the line that's causing problems, and then take another look at that file to figure out why it fails to load.

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answered 2014-09-03 04:27:42 -0500

Dear ahendrix,

following your suggestion I found the error: ';' used instead ':' in costmap_common_params.yaml

Thanks for your support. Alessandro

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For me it was indentation mismatch in a yaml file.

hansolo gravatar image hansolo  ( 2019-02-28 08:02:45 -0500 )edit

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Asked: 2014-09-03 02:55:24 -0500

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Last updated: Sep 03 '14