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KUKA Youbot navigation simulation

asked 2016-05-18 07:58:50 -0500

lfr gravatar image

updated 2016-05-19 09:14:52 -0500

Hello,
I want to apply navigation with a Youbot in simulation. I used the simulator provided by ROS and I launch it with the following command:
roslaunch youbot_gazebo_robot youbot.launch

But when I try to move the robot after doing the following indications to bring up the navigation stack: http://wiki.ros.org/youbot_navigation , the robot doesn't move. I have some errors with the hokuyo_node.

I found that the youbot_oodl package provided here: https://github.com/youbot/youbot-ros-... is not functional (the OODL include files are missing).

If someone can help me, I will be grateful,

lfr

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answered 2016-05-19 09:48:03 -0500

spmaniato gravatar image

A collaborator and I had gotten that working a few months ago, but not using the official youbot_navigation that you mentioned. Instead, take a look at this: https://github.com/pschillinger/youbo... it might help (You can safely ignore the "behavior" stuff; it's specific to our project.)

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Thank you, I'll try that

lfr gravatar imagelfr ( 2016-05-20 01:56:05 -0500 )edit

I used the launch inside the youbot_navigation package but I have a problem. When I try to move the robot, the arm moves instead of the base. But the problem doesn't come from your package (the same problem appears with my own nodes).

lfr gravatar imagelfr ( 2016-05-20 02:36:16 -0500 )edit

It's okay, I found my mistake. I used base_link intead of odom as fixed frame. It works correctly now. Thanks again.

lfr gravatar imagelfr ( 2016-05-20 03:54:12 -0500 )edit

Sorry, I have another problem, I cannot see obstacles in the costmap and I don't know why. Can you help me ?

lfr gravatar imagelfr ( 2016-05-23 04:48:17 -0500 )edit

I'm pretty sure we have not configured the costmaps fully. Take a look at https://github.com/fetchrobotics/fetc... and https://github.com/turtlebot/turtlebo... for examples of how to configure them.

spmaniato gravatar imagespmaniato ( 2016-05-23 08:17:42 -0500 )edit

Thanks, I found where is the error: I replaced the map_type value which was voxel to costmap and it works.
Thank you again.

lfr gravatar imagelfr ( 2016-05-23 09:03:03 -0500 )edit

i can't compile the packages because of an error :invalid new-expression of abstract class type ‘steered_wheel_base_controller::SteeredWheelBaseController’ return new C; have you some tips?

Aff gravatar imageAff ( 2019-02-09 11:58:09 -0500 )edit

i solved that prblem, but now i'm stucked on this: Timed out waiting for transform from base_link to odom to become available before running costmap, tf error: canTransform: target_frame odom does not exist.. canTransform returned after 0.1 timeout was 0.1.

it's my first simulation

Aff gravatar imageAff ( 2019-02-10 04:39:53 -0500 )edit

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Asked: 2016-05-18 07:58:50 -0500

Seen: 556 times

Last updated: May 19 '16