Strange phenomenons when using sbpl installed from source

asked 2015-09-01 10:29:56 -0500

jxl gravatar image

Thanks SBPL ,Johannes and ahendrix,i installed sbpl by apt-get installand modified Johannes's sbpl_lattice_planner,catkin_makesuccessfully .when i use the sbpl_lattice_planner as global planner ,when launching related launch file,in rviz ,i can see that it can produce a path from start to goal and robot can follow it when there is no obstacles.In the terminal it can show very important information, including sub-optimal 's cost , the number of cells it expanded and the time ,but it can not save those sub-optimal paths.

 turtlebot@ubuntun:~$ roslaunch  sbpl_lattice_planner  amcl_sbpl_demo.launch  --screen 
... logging to /home/turtlebot/.ros/log/2d571b82-5051-11e5-80e3-8c705a305c04/roslaunch-ubuntun-12025.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.112:55253/
.....
....
[ INFO] [1441074602.549311296]: Loading map from image                 "/home/turtlebot/jiao_ws/src/sbpl_lattice_planner/map/my_map.pgm"
[ INFO] [1441074602.555435513]: Requesting the map...
[ WARN] [1441074602.556774108]: Request for map failed; trying again...
[ INFO] [1441074602.558110504]: Loading nodelet /navigation_velocity_smoother of type    yocs_velocity_smoother/VelocitySmootherNodelet to manager /mobile_base_nodelet_manager with the following   remappings:
[ INFO] [1441074602.558210961]: /navigation_velocity_smoother/odometry -> /odom
[ INFO] [1441074602.558240477]: /navigation_velocity_smoother/robot_cmd_vel ->  /mobile_base/commands/velocity
[ INFO] [1441074602.558264683]: /navigation_velocity_smoother/smooth_cmd_vel -> /cmd_vel_mux/input/navi
[ INFO] [1441074602.576083574]: Read a 1120 X 1376 map @ 0.025 m/cell
process[kobuki_safety_controller-15]: started with pid [12352]
[ INFO] [1441074602.617446481]: Loading nodelet /kobuki_safety_controller of type     kobuki_safety_controller/SafetyControllerNodelet to manager /mobile_base_nodelet_manager with the following   remappings:
 [ INFO] [1441074602.617608009]: /kobuki_safety_controller/cmd_vel -> /cmd_vel_mux/input/safety_controller
[ INFO] [1441074602.617657071]: /kobuki_safety_controller/events/bumper -> /mobile_base/events/bumper
[ INFO] [1441074602.617697938]: /kobuki_safety_controller/events/cliff -> /mobile_base/events/cliff
[ INFO] [1441074602.617738626]: /kobuki_safety_controller/events/wheel_drop -> /mobile_base/events/wheel_drop
process[move_base-16]: started with pid [12367]
[ INFO] [1441074603.062999575]: Sending map
[ INFO] [1441074603.077323491]: Received a 1120 X 1376 map @ 0.025 m/pix

[ INFO] [1441074603.109795016]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1441074603.175080642]: Done initializing likelihood field model.
[ INFO] [1441074603.727967295]: Number devices connected: 1
[ INFO] [1441074603.728122726]: 1. device on bus 001:15 is a SensorV2 (2ae) from PrimeSense (45e) with serial id    'B00366728522116B'
[ INFO] [1441074603.729913526]: Searching for device with index = 1
[ INFO] [1441074603.806479071]: Opened 'SensorV2' on bus 1:15 with serial number 'B00366728522116B'
[ INFO] [1441074604.259080435]: rgb_frame_id = '/camera_rgb_optical_frame' 
[ INFO] [1441074604.259163820]: depth_frame_id = '/camera_depth_optical_frame' 
[ WARN] [1441074604.263752149]: Camera calibration file  /home/turtlebot/.ros/camera_info/rgb_B00366728522116B.yaml not found.
[ WARN] [1441074604.263830376]: Using default parameters for RGB camera calibration.
[ WARN] [1441074604.263891978]: Camera calibration file  /home/turtlebot/.ros/camera_info/depth_B00366728522116B.yaml not found.
[ WARN] [1441074604.263939983]: Using default parameters for IR camera calibration.
[ WARN] [1441074607.888349273]: Waiting on transform from base_footprint to map to become available before  running costmap, tf error: 
[ INFO] [1441074610.467015646]: Loading from pre-hydro parameter style
[ INFO] [1441074610.533493371]: Using plugin "static_layer"
[ INFO] [1441074610.614367083]: Requesting the map...
[ INFO] [1441074610.817458254]: Resizing costmap to 1120 X 1376 at 0.025000 m/pix
[ INFO] [1441074610.915403518]: Received a 1120 X 1376 map at 0.025000 m/pix
[ INFO] [1441074610.930156057]: Using plugin "obstacle_layer ...
(more)
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