move_base goal not reached
Hi,
I am trying to use move_base to move my robot to a particular point in the environment. While moving autonomously, the robot should build a map at the same time using the gmapping
node. I am running on a Powerbot platform with the rosaria
package to control and drive the robot. This is the move_base.launch file that I am using to set the parameters of the move_base
package. As you can see, I have disabled the recovery_behaviour and clearing_rotation parameters. The local planner that I am using is the DWA planner.
move_base.launch:
<launch>
<arg name="no_static_map" default="false"/>
<arg name="base_global_planner" default="navfn/NavfnROS"/>
<arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/>
<!-- <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_global_planner" value="$(arg base_global_planner)"/>
<param name="base_local_planner" value="$(arg base_local_planner)"/>
<rosparam file="$(find move_base)/config/planner.yaml" command="load"/>
<!-- observation sources located in costmap_common.yaml -->
<rosparam file="$(find move_base)/config/costmap_common.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find move_base)/config/costmap_common.yaml" command="load" ns="local_costmap" />
<!-- local costmap, needs size -->
<rosparam file="$(find move_base)/config/costmap_local.yaml" command="load" ns="local_costmap" />
<param name="local_costmap/width" value="10.0"/>
<param name="local_costmap/height" value="10.0"/>
<param name="local_costmap/inflation/inflation_radius" value="0.2"/>
<!-- static global costmap, static map provides size -->
<rosparam file="$(find move_base)/config/costmap_global_static.yaml" command="load" ns="global_costmap" unless="$(arg no_static_map)"/>
<!-- global costmap with laser, for odom_navigation_demo -->
<rosparam file="$(find move_base)/config/costmap_global_laser.yaml" command="load" ns="global_costmap" if="$(arg no_static_map)"/>
<param name="global_costmap/width" value="100.0" if="$(arg no_static_map)"/>
<param name="global_costmap/height" value="100.0" if="$(arg no_static_map)"/>
<param name="global_costmap/inflation/inflation_radius" value="0.5" if="$(arg no_static_map)"/>
<!-- DWAPlannerROS parameters -->
<rosparam file="$(find move_base)/config/planner.yaml" command="load" ns="DWAPlannerROS"/>
<param name="DWAPlannerROS/acc_lim_x" value="0.5"/>
<param name="DWAPlannerROS/acc_lim_y" value="0.5"/>
<param name="DWAPlannerROS/acc_lim_th" value="1.0"/>
<param name="DWAPlannerROS/max_trans_vel" value="0.3"/>
<param name="DWAPlannerROS/max_vel_x" value="0.3"/>
<param name="DWAPlannerROS/max_vel_y" value="0.3"/>
<param name="DWAPlannerROS/min_rot_vel" value="0.2"/>
<param name="DWAPlannerROS/max_rot_vel" value="0.4"/>
<!-- Remap into namespace for cmd_vel_mux switching -->
<remap from="cmd_vel" to="/RosAria/cmd_vel" />
</node>
</launch>
Then, I am using this code to move the robot 30cm along the x-axis of the robot and 20cm along the y-axis of the robot. My robot can only move in a 2 dimensional environment. I need to set up move_base to be able to give the robot a goal location as an (x,y) coordinate and it must move to that location.
sending_simple_goal.cpp:
#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
int main(int argc, char** argv){
ros::init(argc, argv, "simple_navigation_goals");
//tell the action client that we want to spin a thread by default
MoveBaseClient ac("move_base", true);
//wait for the action server to come up
while(!ac.waitForServer(ros::Duration(5.0)))
{
ROS_INFO("Waiting ...
Can you embed the launch, code, and image into the question?
OK i embedded the launch and code but could not embed the image.