move_base won't publish a command

asked 2015-12-13 19:32:21 -0500

jackcviers gravatar image

updated 2015-12-14 08:33:02 -0500

David Lu gravatar image

I have been following the tutorials for the navigation stack setup for my robot. I have the robot situated on a map, with a valid tf tree according to view_frames. My roswtf output is:

WARNING: Package "libg2o" does not follow the version conventions. It should
 not contain leading zeros (unless the number is 0).                       
Loaded plugin tf.tfwtf
No package or stack in context
============================================================================
====                                                                       
Static checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING You are missing core ROS Python modules: rosinstall -- 
WARNING You are missing Debian packages for core ROS Python modules: rosinst
all (python-rosinstall) --                                                 

============================================================================
====                                                                       
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /amcl:
   * /tf_static
 * /move_base_test:
   * /move_base/status
   * /move_base/feedback
   * /move_base/result
 * /move_base:
   * /move_base_simple/goal
   * /tf_static
 * /robot_pose_ekf:
   * /tf_static

I am using robot_pose_ekf, and joint_state_publisher and robot_state_publisher. I have a valid map (a simple square bitmap). I am using amcl. I have a laser scan publishing to the scan topic and odometry being published. I have an initial pose published to the action client, and I have set a goal. I do not receive any messages on the cmd_vel topic.

I have debug logging set up, and I get this tf error warning :

[ WARN] [1450055002.619956377]: canTransform returned after 0.100896 timeout was 0.1.. canTransform returned after 0.100751 timeout was 0.1.. canTrans

(shortened because it repeats forever)

Has anyone run into this warning, and is there a way to solve it? Does it have anything to do with the cmd_velocities not publishing?

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Comments

Is mıve_base alive? Can you post the output of rosnode list ?

Akif gravatar imageAkif ( 2015-12-16 00:56:02 -0500 )edit

@Akif - afk at the moment, but none of my nodes are publishing

move_base_test:
   * /move_base/status
   * /move_base/feedback
   * /move_base/result
   * /move_base:
   * /move_base_simple/goal

So I assume it is up. I'll run a check when I get back to my desk and add it.

jackcviers gravatar imagejackcviers ( 2015-12-17 17:53:06 -0500 )edit

@Akif

rosnode list /amcl /east_north_up_publisher /fake_east_north_up_rtklibdata /fake_laser_publisher /fake_razor_imu /joint_state_publisher /map_server /move_base /move_base_test /robot_pose_ekf /robot_state_publisher /rosout /rtklib_odometry_publisher

jackcviers gravatar imagejackcviers ( 2015-12-28 18:10:27 -0500 )edit