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Help setting up Navigation Stack

asked 2016-01-31 15:30:11 -0600

trips323 gravatar image

updated 2016-02-01 02:03:58 -0600

gvdhoorn gravatar image

I had to create a driver to control the motors using an arduino due. Because the odom message is too big to send over serial i created my own message type filling out what i need and sending it to ROS. I created an ROS node to receive that message and fill out the odom message and tf.

All of my navigation configurations and launch files are based of this tutorial Robot Nav Setup

After launching my LaserScanner, odom_publisher, and AMCL my tf looks like this.

 - laser -> base_link -> odom -> map

Everything seems to be correct. For testing the velocities and positions of the odometry are staying at 0 and updating at 10 HZ. and the time_stamps are being transfered from the arduino to the odom message correctly. All information is shown in rviz correctly.

When i try to run my move_base.launch file i get this error.

 INFO [1454253259.468047137]: Subscribed to map topic.
 INFO [1454253259.614758368]: Received a 2048 X 2048 map @ 0.100 m/pix

 INFO [1454253259.704788663]: Initializing likelihood field model; this can take some time on large maps...

 INFO [1454253259.816156636]: Done initializing likelihood field model.

 INFO [1454253260.032520338]: Loading from pre-hydro parameter style

 INFO [1454253260.057238160]: Using plugin "static_layer"

 INFO [1454253260.123914268]: Requesting the map...

 INFO [1454253260.332936390]: Resizing costmap to 2048 X 2048 at 0.100000 m/pix

 INFO [1454253260.428163985]: Received a 2048 X 2048 map at 0.100000 m/pix

 INFO [1454253260.433295856]: Using plugin "obstacle_layer"

 INFO [1454253260.438305657]:     Subscribed to Topics: laser_scan_sensor

 INFO [1454253260.471228067]: Using plugin "inflation_layer"

terminate called after throwing an instance of 'XmlRpc::XmlRpcException'

[move_base-3] process has died [pid 6490, exit code -6, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/denso/.ros/log/ece2586c-c82a-11e5-88b6-00215cb72bea/move_base-3.log].
log file: /home/denso/.ros/log/ece2586c-c82a-11e5-88b6-00215cb72bea/move_base-3*.log

The only thing i can think of is that it doesn't like my odom messages for some reason. Because, i can launch move_base without publishing odom and it wont throw an error. It just complains thats theres no tfs.

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answered 2016-02-01 00:17:38 -0600

yasagitov gravatar image

updated 2016-02-01 00:19:12 -0600

I had a similar issue with this tutorial. Move_base just hangs and do not respond. I fixed this issue by using navigation configs from the husky robot, located at .

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Thanks. I will try that configure out.

trips323 gravatar image trips323  ( 2016-02-01 00:58:13 -0600 )edit

answered 2016-02-01 14:05:27 -0600

trips323 gravatar image

I figured it out.... I wasn't specifing the robot footprint correctly in costmap_common_params.yaml.

However, now i'm getting the following warning from move_base.

The origin for the sensor at (1.49, -0.10) is out of map bounds. So, the costmap cannot raytrace for it.

I have static map set to true for the global_costmap and false for the local_costmap. In rviz it shows the robot_footprint inside the map.

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Asked: 2016-01-31 15:30:11 -0600

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Last updated: Feb 01 '16