Help setting up Navigation Stack
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.
