move_base obstacle topic missing

asked 2015-04-15 08:40:55 -0500

hannjaminbutton gravatar image

updated 2015-04-15 09:13:43 -0500

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: ).

However, when I type

rostopic list move_base

I am missing the topic




So I cannot visualize any obstacles.

Here is my launch file for move_base:


<!-- 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" />


These are my yaml files for move_base:


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_radius: 0.2

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


  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_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0

  static_map: true
  rolling_window: false


  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.

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did you solve it?

Mehdi. gravatar image Mehdi.  ( 2015-08-05 07:40:37 -0500 )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 image rem1968  ( 2017-02-28 21:10:33 -0500 )edit