nav2d using Gazebo

asked 2016-03-17 05:43:49 -0500

RKV gravatar image

hi,

I am trying to use nav2d using Gazebo.

I am using "https://github.com/skasperski/gazebo_robots" launch file and added rviz.

When I try to set goal in rviz I am getting error as


<launch> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find scout)/world/willow.world"/> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="debug" value="false"/> </include>

<include file="$(find scout)/launch/scout.launch">
    <arg name="z" value="0.5" />
</include>

<node name="BL_WheelPose" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_back_left_hub p3at_back_left_wheel 100" />
<node name="BR_WheelPose" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_back_right_hub p3at_back_right_wheel 100" />
<node name="FL_WheelPose" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_front_left_hub p3at_front_left_wheel 100" />
<node name="FR_WheelPose" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_front_right_hub p3at_front_right_wheel 100" />

<!--<group ns="scout">-->
    <param name="tf_prefix" value="" />
    <param name="use_sim_time" value="true" />
    <rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

    <!-- Start the Operator to control the simulated robot -->
    <node name="Operator" pkg="nav2d_operator" type="operator" >
        <remap from="scan" to="scout/base_scan"/>
        <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
        <rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
    </node>

    <!-- Start Mapper to genreate map from laser scans -->
    <node name="Mapper" pkg="nav2d_karto" type="mapper">
        <remap from="scan" to="scout/base_scan"/>
        <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
    </node>

    <!-- Start the Navigator to move the robot autonomously -->
    <node name="Navigator" pkg="nav2d_navigator" type="navigator">
        <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
    </node>

    <node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
    <node name="Explore" pkg="nav2d_navigator" type="explore_client" />
    <node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />

    <!-- Start the joystick-driver and remote-controller for operation-->
    <node name="Joystick" pkg="joy" type="joy_node" />
    <node name="Remote" pkg="nav2d_remote" type="remote_joy" />
<!--</group>-->
        <!-- Some general parameters -->
<param name="use_sim_time" value="true" />
<rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

<!-- Pioneer model for fancy visualization -->
<!-- Comment this out if you do not have the package 'p2os' available! -->
<include file="$(find p2os_urdf)/launch/pioneer3at_urdf.launch" />

<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial3.rviz"/>

</launch>


I commented group ns because it publishes topics with prefix "scout" which doesn't creates problem in loading robot in rviz.

I am trying to repeat the tutorial 3 with gazebo and rviz.

Where I am going wrong.Kindly correct me.

Thanks in advance.

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Comments

Where is the error message?

al-dev gravatar imageal-dev ( 2016-03-18 05:19:53 -0500 )edit

Its showing "Prepare Failed"

RKV gravatar imageRKV ( 2016-03-18 06:31:13 -0500 )edit

Did you have a look at this thread ?

al-dev gravatar imageal-dev ( 2016-03-18 14:01:09 -0500 )edit