Using simple_navigation_goals
Hi,
I am in the process of covering this tutorial in order to familiarize myself with the packages of move_base
and actionlib
. I am aware that the code presented in the tutorial requires move_base server to be run.
My robot platform is a Powerbot (pioneer robot) by ActivMedia Mobilerobots. I am bringing up the following nodes as a standard procedure in order to have my setup up and running:
- Roscore
- RosAria package to interface and send commands to the robot's microcontroller
- Sicktoolbox_wrapper package, to drive the laser range finder
- TF transformation to get the followin tf tree: odom -> base_link -> laser
I am also using the move_base.launch that is presented in this repository. Since this requires a map to be fired up, I am using the gmapping
package to create the map.
After I run move_base.launch (from the above repository) and the gmapping.launch file, I followed the rest of the tutorial to be able to run a simple command that moves the robot by 1 metre. When i ran the node simple_navigation_goals
, I got the following error:
[ERROR] [1425560182.271687421]: Client [/move_base] wants topic /move_base_simple/goal to have datatype/md5sum [geometry_msgs/PoseStamped/d3812c3cbc69362b77dc0b19b345f8f5], but our version has [move_base_msgs/MoveBaseActionGoal/660d6895a1b9a16dce51fbdd9a64a56b]. Dropping connection.
[ INFO] [1425560187.048041843]: Waiting for the move_base action server to come up
[ INFO] [1425560192.048212940]: Waiting for the move_base action server to come up
The move_base action server never seemed to "come up" even though I had run the move_base.launch
file.
Also, in the terminal tab where I ran move_base.launch
, I had the following, with a warning at the end:
[ INFO] [1425560108.210836103]: Using plugin "static"
[ INFO] [1425560108.359553517]: Requesting the map...
[ INFO] [1425560108.700098618]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1425560108.864587000]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1425560108.864730805]: Subscribing to updates
[ INFO] [1425560108.881533417]: Using plugin "inflation"
[ INFO] [1425560109.295686084]: Using plugin "obstacles_laser"
[ INFO] [1425560109.422666966]: Subscribed to Topics: laser
[ INFO] [1425560109.514106393]: Using plugin "inflation"
[ INFO] [1425560109.778240474]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1425560109.795708585]: Sim period is set to 0.20
[ INFO] [1425560110.262923424]: Recovery behavior will clear layer obstacles
[ INFO] [1425560110.412136262]: Recovery behavior will clear layer obstacles
[ WARN] [1425560386.212503542]: Map update loop missed its desired rate of 4.0000Hz... the loop actually took 0.2584 seconds
Can someone please explain to me:
- What kind of move_base launch file do I need to have in order to bring up the move_base action server?
- Do I need to run other nodes apart from the ones I mentioned previously?
- How can I use and run this tutorial (simple_navigation_goals) without having to run gmapping?
EDIT: UPDATE:
This is the procedure that I am following to bring up my setup: 1. roscore 2. rosrun rosaria RosAria _port:=/dev/ttyS0 (runs the rosaria node to drive the robot) 3. rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyS1 4. rosrun transform transform (TF code brought from this tutorial 5. roslaunch gmapping.launch ...