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navigation with husky on Rviz and Gazebo : robot sliding and odom problem

asked 2014-10-21 09:02:12 -0600

est_CEAR gravatar image

updated 2014-10-27 06:45:39 -0600

Hello,

I am trying to navigate in a simple closed world with a husky robot, using move_base. I mapped the world with hector_mapping. When I navigate with move_base, the /encoder topic published by the ekf doesn't match with the /odom topic (/odom_combined).

Here are the frames :

map -> odom_combined -> base_footprint -> base_link

  • map -> odom_combined : own broadcaster ("manual")
  • odom_combined -> base_footprint : robot_pose_ekf
  • base_footprint -> base_link : robot_state_publisher

AND

map-> odom : amcl

Launching move_base:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  <remap from="/cmd_vel" to="/husky/cmd_vel_unsafe" /> 
  (and parameters)
</node>

Here are the notable arguments of localization (amcl) launching file :

<include file="$(find gazebo_simulation)/launch/includes/amcl.launch.xml">
        <arg name="scan_topic" value="/sick/scan"/>
        <arg name="odom_frame_id" value="odom_combined"/>
        <arg name="base_frame_id" value="base_footprint"/>
</include>

The other point is that the robot doesn't go straight away but always slides when publishing :

$rostopic pub -r 4 /husky/cmd_vel_unsafe geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0 }, angular: {x: 0.0, y: 0.0, z: 0.0 } }'

Any idea? Is it from gazebo world or from parameters of the robot?

Thank you

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answered 2014-10-26 08:57:53 -0600

est_CEAR gravatar image

updated 2014-10-26 09:04:00 -0600

Hello,

I found what was wrong : there were two problems.

  • First, I had multiple odom topics and so I uniformed the topics and/or remapped it in the good nodes, for instance with :

    <remap from="odom" to="encoder"/>

  • Then, the amcl couldn't publish its topics because of the broadcaster from map to odom frame that I added. The amcl need to publish this broadcaster, but it couldn't because any toic can have only one parent.

Now it works well.

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Asked: 2014-10-21 09:02:12 -0600

Seen: 689 times

Last updated: Oct 26 '14