Ask Your Question
0

move_base simulated in stage without map_sever and amcl

asked 2015-10-19 21:38:44 -0500

zerhin gravatar image

Hello all, I am using move_base as a local navigation without map_sever and amcl. I have a higher path planning planner which is a cpp file which will generate some goals. And I publish it to the move_base/goal topic. But I have some problem when I set up the navigation stack. I was following the navigation tutorial. Here is my yaml files and launch file:

BTW, this is my error when running the launch file:

Waiting on transform from base_link to map to become available before running costmap, tf error:

costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [(0.0,0.0)]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser_scan_sensor point_cloud_sensor

laser_scan_sensor: {sensor_frame: frame_name, data_type: LaserScan, topic: topic_name, marking: true, clearing: true}

point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, 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

global_costmap_params.yaml:

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

base_local_planner.yaml:

TrajectoryPlannerROS:

      max_vel_x: 0.45
      min_vel_x: 0.1
      max_vel_theta: 1.0
      min_in_place_vel_theta: 0.4

      acc_lim_theta: 3.2
      acc_lim_x: 2.5
      acc_lim_y: 2.5

      holonomic_robot: true

launch file: This launch file will open the stage and topics tf and base_scan ,odom ,cmd_vel are provided

<launch>
  <param name="/use_sim_time" value="true"/>
  <node pkg="stage_ros" type="stageros" name="IGVC_stage" args="$(find stage_hill)/world/hillLand.world" output="screen">
  </node>
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find localnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find localnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find localnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find localnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find localnav)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2015-10-20 13:56:09 -0500

David Lu gravatar image

It expects that transform because that's what you specify in your global costmap params. MoveBase's behavior can get rather tricky if you don't use both local and global planning.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2015-10-19 21:38:44 -0500

Seen: 126 times

Last updated: Oct 20 '15