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Configuration of the Navigation Stack on a Robot-Topic missing

asked 2015-11-08 05:02:09 -0600

azfboom gravatar image

updated 2015-11-13 06:47:27 -0600

Hello everyone, I am trying to follow the Configuration of the Navigation Stack on a Robot and at the end I didn't have what I am suppose to have.

When I try to configure my RViz for some feature I do not have the right topic, their are missing, I mean their are not selectable in the list of topic. it concern : Robot Footprint Obstacles Inflated Obstacles Unknown Space Global Plan Local Plan Planner Plan

Using rostopic list I find that /move_base/local_costmap/footprint is publish but I ca not select it in the topic list for Robot Footprint.

It is a part of an assignment whose is the description :

Navigate the map using rviz and path planning algorithms

 Copy the FirstnameLastnameSlamSim.rviz to FirstnameLastnamePlanSim.rviz (for example, by using linux's "cp" command or ROS's roscp command)
    Create a FirstnameLastnamePlanSim.launch file to:
        Set global parameter "use_sim_time" to "true"
        Run stageros node with worlds/ configuration file from the tut_ibx0020 package (simulation) and the following topic remappings for stageros topics:
            Robot odometry should be published to "/odometry"
            Ideal odometry should be published to "/ground_truth"
            Laser should be published to "/laser"
        Run rviz node from rviz package and load FirstnameLastnameSlamSim.rviz display profile.
        Run map_server node from the map_server package with proper parameters to load previously created FirstnameLastnameSim.pgm and FirstnameLastnameSim.yaml files as a map
        Run amcl node from the amcl package to localize your robot using the map with proper parameters and topic remappings, if needed.
    Run move_base node from the move_base package to Navigate your robot by sending commands to stageros using localization from amcl and map from map_server.
        Set proper parameters and topic remappings, if needed. Create and load parameter files (see the RobotSetup for the Navigation stack for details). Robots' base frame id is "base_link", while laser's frame id is "base_laser_link". You global frame id should be "map", not "odom".
-Set proper topic name for laser, and put correct frame_id to laser_scan_sensor's sensor_frame.
-Set "footprint" (four points outlining shape of the robot - cube with a size of 0.5) or "robot_radius" (square can also be approximated by a circle).
                Keep in mind, that the robot in simulation is differential-drive robot

And this is my launch file :

    <param name="use_sim_time" value="true"  type="boolean"/>
    <node name="stageros" pkg="stage_ros" type="stageros"
    args=" --dataPath  $(find tut_ibx0020)/worlds/  --configfile $(find tut_ibx0020)/worlds/ " >
    <remap from="odom" to="odometry" />
    <remap from="base_pose_ground_truth" to="ground_truth" />
    <remap from="base_scan" to="laser" />
 <node name="slam" pkg="gmapping" type="slam_gmapping" args="scan:=/laser">
   <param name="xmin" value="0" />
   <param name="xmax" value="30.0" />
   <param name="ymin" value="0" />
   <param name="ymax" value="30.0" />
   <param name="delta" value="0.05" />
<node name="rviz" pkg="rviz" type="rviz" args=" --display-config $(find ibx0020_control)/QuentinMOUTYPlanSim.rviz" />  
  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find ibx0020_control)/QuentinMOUTYSim.yaml ...
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It can help if you can post output of rostopic list and rosnode list

Akif gravatar image Akif  ( 2015-11-08 10:30:24 -0600 )edit

For your second edit in self answer, can you write topic names you subscribe for obstacles in rviz. Also it is a better practice to edit your original question for additional informations.

Akif gravatar image Akif  ( 2015-11-12 03:39:21 -0600 )edit

@azfboom, I updated my answer for obstacles.

Akif gravatar image Akif  ( 2015-11-12 04:12:51 -0600 )edit

2 Answers

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answered 2015-11-08 06:12:16 -0600

Akif gravatar image

updated 2015-11-12 04:12:14 -0600

Topic names are changing with new releases. The tutorial you point out has some outdated information for new releases like Indigo. For footprint you can check this answer:

You may try adding components "by topic" in rviz if it will be easier without thinking about their types.

By the way, your assignment tells about a config file for rviz FirstnameLastnameSlamSim.rviz. If it is properly configured it should be enough just to load it in rviz.

Update: For visualization of obstacles, we use costmaps. You can subscribe to /move_base/local_costmap/costmap which is a type of nav_msgs/OccupancyGrid . For global costmap it is /move_base/global_costmap/costmap

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answered 2015-11-08 07:18:33 -0600

azfboom gravatar image

updated 2015-11-11 07:35:58 -0600

Thank you for your answer. I will look with your link. About the RViz file my problem is to configure it correctly, the problem is that my grid can't subscribe to any topic, so that why I think I might have problem with my .yaml files. I also don't see my robot footprint. I also have another problem with my map, it doesn't load with my launch file but when I use the rosrun command it works so I don't understand why.

EDIT : rosnode list :

user@IBX0020-2014:~$ rosnode list /amcl_node /map_server /move_base /rosout /rviz /slam /stageros

rostopic list:

user@IBX0020-2014:~$ rostopic list /amcl_node/parameter_descriptions /amcl_node/parameter_updates /amcl_pose /camera_info /clicked_point /clock /cmd_vel /depth /ground_truth /image /initialpose /laser /map /map_metadata /map_updates /move_base/NavfnROS/plan /move_base/current_goal /move_base/global_costmap/costmap /move_base/global_costmap/costmap_updates /move_base/global_costmap/footprint /move_base/global_costmap/inflation_layer/parameter_descriptions /move_base/global_costmap/inflation_layer/parameter_updates /move_base/global_costmap/obstacle_layer/parameter_descriptions /move_base/global_costmap/obstacle_layer/parameter_updates /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped /move_base/global_costmap/obstacle_layer_footprint/parameter_descriptions /move_base/global_costmap/obstacle_layer_footprint/parameter_updates /move_base/global_costmap/parameter_descriptions /move_base/global_costmap/parameter_updates /move_base/global_costmap/static_layer/parameter_descriptions /move_base/global_costmap/static_layer/parameter_updates /move_base/goal /move_base/local_costmap/costmap /move_base/local_costmap/costmap_updates /move_base/local_costmap/footprint /move_base/local_costmap/inflation_layer/parameter_descriptions /move_base/local_costmap/inflation_layer/parameter_updates /move_base/local_costmap/obstacle_layer/parameter_descriptions /move_base/local_costmap/obstacle_layer/parameter_updates /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped /move_base/local_costmap/obstacle_layer_footprint/parameter_descriptions /move_base/local_costmap/obstacle_layer_footprint/parameter_updates /move_base/local_costmap/parameter_descriptions /move_base/local_costmap/parameter_updates /move_base/local_costmap/static_layer/parameter_descriptions /move_base/local_costmap/static_layer/parameter_updates /move_base_simple/goal /odom /odometry /particlecloud /rosout /rosout_agg /slam/entropy /tf /tf_static

I also have an error at the end of the terminal :

what(): Tried to subscribe to a topic with the same name but different md5sum as a topic that was already subscribed [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7 vs. sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca] [move_base-7] process has died [pid 2230, exit code -6, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/user/.ros/log/79334df2-864b-11e5-acb3-080027727b67/move_base-7.log]. log file: /home/user/.ros/log/79334df2-864b-11e5-acb3-080027727b67/move_base-7*.log

EDIT 2: Ok now I manage to have a robot foot print and a map, I still have two problem. The first thing is that my grid can't subscribe to topic so I do not have the obstacles. The second is that the pathfinding doesn't work, the robot always go in the same way even if I change the goal.

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Asked: 2015-11-08 05:02:09 -0600

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Last updated: Nov 13 '15