move_base obstacle topic missing

asked 2015-04-15 08:40:55 -0600

hannjaminbutton gravatar image

updated 2015-04-15 09:13:43 -0600

Hey, Im trying to run the Navigation stack on my robot (with laser scanner and whel odometry) with ROS Hydro. I already built a map (using gmapping) and the localization with amcl is working as well. Now try to run move base and visualize it in rviz (I use this Tutorial: http://wiki.ros.org/navigation/Tutori... ).

However, when I type

rostopic list move_base

I am missing the topic

local_costmap/obstacles

and

global_costmap/obstacles

So I cannot visualize any obstacles.

Here is my launch file for move_base:

<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 amcl)/examples/amcl_diff.launch" />

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" >
<param name="controller_frequency" value="10.0" />
<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>

These are my yaml files for move_base:

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [ [0.25, 0.2.5], [-0.25, 0.25], [-0.25, -0.25], [0.25, -0.25] ]

transform_tolerance: 1.5
min_obstacle_height: 0.0

inflation_layer:
   inflation_radius: 0.2

observation_sources: scan
   scan: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

local_costmap_param.yaml

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
  transform_tolerance: 0.5

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0

  static_map: true
  rolling_window: false

base_local_planner.yaml

TrajectoryPlannerROS:
  max_vel_x: 0.44
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: true

This is my tf tree:

 map -> odom -> base_footprint -> base_link -> laser

I guess there is something wrong with these config files. So actually my problem is that there is no obstacle topic. However, rostopic list shows topics wirh obstacle layer and I can visualize the local and glocal costmap in rviz, but it doesnt look like in the Tutorial.

edit retag flag offensive close merge delete

Comments

did you solve it?

Mehdi. gravatar imageMehdi. ( 2015-08-05 07:40:37 -0600 )edit

I am having this same problem with Indigo. I am not getting any ROS Errors, so I am not sure if it is frames or something else that is wrong. Thanks.

rem1968 gravatar imagerem1968 ( 2017-02-28 21:10:33 -0600 )edit