Husky navigation stack setup

asked 2015-07-30 15:10:31 -0500

rohit.ros gravatar image

Hello again,

I am working on clear-path husky and i am using husky navigation package. I am trying to do gmapping in my lab environment then save the map and then load the map back and navigate to certain point. When i run the simulation then everything works perfectly fine in the simulation environment, When i am trying to do the same husky is not even moving to the target goal i am giving using rviz. here are my launch files.


 <?xml version="1.0"?>

  <arg name="world_name" default="worlds/"/>

  <arg name="laser_enabled" default="true"/>
  <arg name="ur5_enabled" default="false"/>
  <arg name="kinect_enabled" default="false"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(arg world_name)"/> <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>

  <include file="$(find husky_gazebo)/launch/spawn_husky.launch">
    <arg name="laser_enabled" value="$(arg laser_enabled)"/>
    <arg name="ur5_enabled" value="$(arg ur5_enabled)"/>
    <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>


This is my gmapping launch file

<?xml version="1.0"?>

  <arg name="scan_topic" default="scan" />

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
      odom_frame: odom
      base_frame: base_link
      map_frame: map

      map_update_interval: 0.5 # Publish new map

      maxUrange: 5.5 # Should be just less than sensor range
      maxRange: 6.1 # Should be just greater than sensor range
      particles: 100 # Increased from 80

      # Update frequencies
      linearUpdate: 0.3
      angularUpdate: 0.5
      temporalUpdate: 2.0
      resampleThreshold: 0.5

      # Initial Map Size
      xmin: -100.0
      ymin: -100.0
      xmax: 100.0
      ymax: 100.0
      delta: 0.05

      # All default
      sigma: 0.05
      kernelSize: 1
      lstep: 0.05
      astep: 0.05
      iterations: 5
      lsigma: 0.075
      ogain: 3.0
      lskip: 0
      llsamplerange: 0.01
      llsamplestep: 0.01
      lasamplerange: 0.005
      lasamplestep: 0.005

    <remap from="scan" to="$(arg scan_topic)"/>

When i give a target position on rviz it doesn't move.

Any suggestions and help would be appreciated.


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did you ever get this to work? I'm currently having trouble with the navigation stack and husky

tercelkisor gravatar image tercelkisor  ( 2016-05-24 18:07:15 -0500 )edit

did you do initial pose estimate with amcl?

aarontan gravatar image aarontan  ( 2018-06-28 15:47:12 -0500 )edit