KUKA Youbot navigation simulation

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

201 ●10 ●16 ●21

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

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

spmaniato

1788 ●40 ●56 ●69 http://www.spmaniato.me/

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

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