Move_base configurations and amcl frames problems

asked 2015-03-31 03:24:40 -0500

hannjaminbutton gravatar image

updated 2015-03-31 04:40:22 -0500

Hey, I'm trying to use the Navigation Stack on my robot. I'm using a laser sanner and wheel odometry. I run my robot and then I start a launch file for move_base.

This is my move_base launch file:

<launch>

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


<!--- Run AMCL -->
<include file="$(find navigation_stack)/launch/amcl_diff_map.launch" />


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

</launch>

This is my amcl_diff_launch file:

<launch>

<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_base_link"/>
<param name="base_frame_id" value="base_link"/>
<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"/>
<param name="initial_pose_x" value="0"/>
<param name="initial_pose_y" value="0"/>
<param name="initial_pose_a" value="0"/>
</node>
</launch>

There are some things that are not working.

1) When I'm running my robot everthing is shown perfectly on rviz. But when I start my move_base launch file and move the robot around, the frames for odometry and my base_link are not moving neither the frame for the laser is moving. But when I visualize the data from the scan topic it is moving as I move the robot. I guess that this is a problem with amcl. This problem appeared when I set the parameter odom_frame_id in my amcl_diff_map launch file to my odometry frame (odom_base_link). Could it be because a node from my robot is sending the odometry transform and so does amcl? Amcl uses laser scans and transforms it into the odometry frame, right? So actually I dont need any odometry when Im using amcl? So do I have to use another parameter for odom_frame_id in amcl or is ... (more)

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Comments

Can you publish the actual graph nodes?

pexison gravatar imagepexison ( 2015-04-01 17:32:21 -0500 )edit