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2d Nav Goal RViz button not working with PR2

asked 2016-03-03 14:00:35 -0500

Pablo Estefó gravatar image

Hi there,

I have been unsuccessfully trying to move our PR2 robot using the "2d Nav Goal" button in RViz.

This are the steps I do:

  1. I start the map server up in the robot: rosrun map_server map_server mymap.yaml

  2. I start the navigation stack up in the robot: roslaunch pr2_2dnav pr2_2dnav.launch

  3. I start RViz in a laptop through: roslaunch pr2_navigation_slam rviz_move_base_slam.launch
  4. I configure RViz by adding the Map visualization and /map topic. I set also the map frame as the fixed frame.

After that I can actually see the map and the PR2 model correctly positioned, but when I want to move the robot through the 2d Nav Goal button, nothing happens.

In the terminal of the step 2, the followin Error is shown:

[c2-0]: ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter]
[c2-0]: process[base_shadow_filter-6]: started with pid [20551]
[c2-0]: ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter]
[c2-0]: ERROR: cannot launch node of type [semantic_point_annotator/sac_inc_ground_removal_node]: can't locate node [sac_inc_ground_removal_node] in package [semantic_point_annotator]

I installed the package ros-hydro-pr2-navigation-self-filter in the robot and started all over again. The error appeared again.

As RViz runs in the laptop (NOTE: I tested the configuration variables and they were OK since I can make rostopic echo and rostopic pub correctly), I wanted to simulate the action of the button by publishing into the /move_base_simple/goal directly from c1 and nothing happened.

I read several answers in similar posts but none of them worked for me.

Am I missing something? Can I try something else to reveal the error source?

Thanks in advance,

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Comments

Did you manage to solve this? We are facing the same issue with our PR2.

EDIT: For future reference, we don't have this issue if we run the launch file from the C2 computer in the PR2.

diogoa gravatar image diogoa  ( 2017-06-20 01:47:02 -0500 )edit

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answered 2019-02-22 19:05:35 -0500

I had a similar problem, rviz was working fine but i had a firewall on. just for check type $sudo ufw status if it isnt inactive it might be the problem, just deactivate it $sudo ufw disable

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Asked: 2016-03-03 14:00:35 -0500

Seen: 200 times

Last updated: Mar 03 '16