Move_base navigation not forming nodes.

edit

Hey everyone,

I'm fairly new to ROS in general, but have successfully performed gmapping and r-tabmapping without any issues.

I've followed the tutorial ( http://wiki.ros.org/navigation/Tutori... ) and have had little success. No errors are produced, but the expected nodes are not initialized (costmaps).

Here is my move_base launch file and the accompanying .yaml files.

move_base.launch: <launch> <master auto="start"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find spiffy_2dnav)/Maps/map.pgm 0.05"/>

  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" args="cmd_vel:=summit_xl_controller/command" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find spiffy_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find spiffy_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find spiffy_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find spiffy_2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find spiffy_2dnav)/base_local_planner_params.yaml" command="load" />
  </node>

</launch>

base_local_planner_params.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

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.44, 0.29], [0.44, -0.29], [-0.44, -0.29], [-0.44, 0.29]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser_scan_sensor #point_cloud_sensor

laser_scan_sensor: {sensor_frame: hokuyo_laser_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}

local_costmap_params.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: true

Here is a log of what happens after I launch:

roslaunch move_base.launch 
... logging to somedir/name.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.

WARNING: ignoring defunct <master /> tag
started roslaunch server http://some.ip/

SUMMARY
========

PARAMETERS
 * /amcl/gui_publish_rate: 10.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 30
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 5000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.2
 * /amcl/odom_alpha3: 0.8
 * /amcl/odom_alpha4: 0.2
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: odom
 * /amcl/odom_model_type: diff
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 0.1
 * /amcl/update_min_a: 0.5
 * /amcl/update_min_d: 0.2
 * /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2
 * /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
 * /move_base/TrajectoryPlannerROS/acc_lim_y: 2.5
 * /move_base/TrajectoryPlannerROS/holonomic_robot: True
 * /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.45
 * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4
 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
 * /move_base/global_costmap/footprint: [[0.44, 0.29], [0...
 * /move_base/global_costmap/global_frame: /map
 * /move_base/global_costmap/inflation_radius: 0.55
 * /move_base/global_costmap/laser_scan_sensor/clearing: True
 * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
 * /move_base/global_costmap/laser_scan_sensor/marking: True
 * /move_base/global_costmap/laser_scan_sensor ...