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unable to find goal using ros-navigation

asked 2014-10-23 07:13:05 -0600

hi, i want to navigate P3AT (in USARSim @windows PC1) from ROS (Fuerte @UBUNTU PC2). i am using ros navigation stack for auto navigation.

but after setting goal in rviz, robot just roam around left - right and start moving to random location.

here are the files you may want to look,

base_local_planner_params.yaml

TrajectoryPlannerROS:
  # for details see: http://www.ros.org/wiki/base_local_planner
  max_vel_x: 0.2
  min_vel_x: 0.05
  max_rotational_vel: 0.5
  min_in_place_rotational_vel: 0.1

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 0

  holonomic_robot: true

  # goal tolerance parameters
  yaw_goal_tolerance: 0.1
  xy_goal_tolerance: 0.2
  latch_xy_goal_tolerance: true

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.305, 0.278], [0.04, 0.193], [-0.04, 0.193], [-0.282, 0.178], [-0.282, -0.178], [-0.04, -0.193], [0.04, -0.193], [0.305, -0.278]]
#footprint: [[0.075, 0.178], [0.04, 0.193], [-0.04, 0.193], [-0.282, 0.178], [-0.282, -0.178], [-0.04, -0.193], [0.04, -0.193], [0.075, -0.178]]
#robot_radius: ir_of_robot
inflation_radius: 0.6

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: openni_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  static_map: true

move_base_params.yaml

controller_frequency: 10
controller_patience: 15.0
oscillation_timeout: 10.0
oscillation_distance: 0.5

TrajectoryPlannerROS:
  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: 1.0
  acc_lim_x: 0.5
  acc_lim_y: 0.5
  path_distance_bias: 50.0
  goal_distance_bias: 0.8
  holonomic_robot: false

local_costmap_params.yaml

local_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  # origin_x: -0.115
  origin_x: 7.5
  origin_y: 7.5
  resolution: 0.05

move_base.launch

<launch>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find my_robot_name_2dnav)/map/map.pgm 0.05"/>

  <!--- You can see original move_base.launch -->
  <!--- Run AMCL -->
  rosparam set use_sim_time true
  <include file="$(find usarsim_inf)/launch/usarsim.launch"/>
  <include file="$(find amcl)/examples/amcl_omni.launch" />



  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/move_base_params.yaml" command="load" />
  </node>


  <node pkg="gmapping" type="slam_gmapping" respawn="false" name="slam_gmapping" args="scan:=lms200" >
  </node>

  <node pkg="rviz" type="rviz" respawn="false" name="rviz">
  </node>
</launch>
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Comments

Hi Sumant, you are not supposed to launch your SLAM algorithm (gmapping) simultaneously with your localization algorithm (AMCL). If you already have the map, comment out your gmapping node in the launch file.

al-dev gravatar imageal-dev ( 2014-10-24 21:29:38 -0600 )edit

thanks @al-dev for reply. when i comment out the portion you have suggested it gives an warning,

**"waiting on transform from /base_link to /map to become available before running costmap, tf error"**
sumant gravatar imagesumant ( 2014-10-25 12:16:17 -0600 )edit

I suspect you don't have any source of odometry measurements. What does your transform tree look like when you do rosrun tf view_frames ? AMCL requires that someone publishes a transform from the /odom frame to the /base_link frame of your robot. See the wiki : http://wiki.ros.org/amcl

al-dev gravatar imageal-dev ( 2014-10-25 12:59:38 -0600 )edit

hello @al-dev , thank you for looking into it, here is the transform tree, after i removed the SLAM click to view

Thank you

sumant gravatar imagesumant ( 2014-11-17 11:57:59 -0600 )edit

1 Answer

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answered 2014-11-03 04:12:40 -0600

lebowski gravatar image
  1. use gmapping to localize your robot in the map (use 2d pose estimate in rviz and drive around manually)
  2. if the position is accurate (you see the estimate position in rviz visualizing tf) start your move_base launchfile
  3. let us know your results :)
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Thank you @lebowski , Result is still same, robot is roaming aroud!!, i m just wondering why it is happening.. Thanks

sumant gravatar imagesumant ( 2014-11-17 12:05:03 -0600 )edit

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Asked: 2014-10-23 07:13:05 -0600

Seen: 561 times

Last updated: Nov 03 '14