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nav2d autonomous exploration

asked 2016-06-01 03:05:36 -0600

Alvaro Salcedo gravatar image

updated 2016-06-03 02:39:27 -0600

Every problems before fixed:

EDIT 6: Hi friends!! I have just fixed every problems with your help. So now my robot moves with StartMapping and with StartExplorer, but not really well...

I think that it do good StartMapping but when I do StartExplorer, my robot explores just a few second and it gets stuck in a wall. I think that this problem is for some .yaml parameters.

But I modify a lot of parameters to check if it does a good navigatiion and alwais it gets stuck. Which parameters have I to modify or what I can do???

Thanka lot!

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You are asking very basic questions. You should start by reading and understanding tutorials about topics and launch files. After that, try again by yourself (and probably you will be successful). If even then is not working, came back with a more specific question/problem.

IvanV gravatar imageIvanV ( 2016-06-01 04:01:36 -0600 )edit

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answered 2016-06-01 06:55:26 -0600

Sebastian Kasperski gravatar image

The topic "cmd_vel" should be connected to you robot driver for motion commands and "scan" to your laser sensor driver for scan data samples. In the latest release, the parameters for the services are no longer needed, so you can just use them like: "rosservice call /StartExploration".

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@Sebastian Kasperski thanks a lot for answering. I have just edited first post with the current error.!

Alvaro Salcedo gravatar imageAlvaro Salcedo ( 2016-06-01 10:06:51 -0600 )edit

For the second part you need to make a tf tree. Take a look at this tutorial)

Icehawk101 gravatar imageIcehawk101 ( 2016-06-01 11:56:59 -0600 )edit

@Icehawk101 I have just fixed that error. Now the error is the next when I call rosservice StartExploration:

[ERROR] Exploration failed, could not get current position.

Alvaro Salcedo gravatar imageAlvaro Salcedo ( 2016-06-01 12:14:31 -0600 )edit

You should make a second edit to your question with the new information.

Icehawk101 gravatar imageIcehawk101 ( 2016-06-01 12:36:52 -0600 )edit
Alvaro Salcedo gravatar imageAlvaro Salcedo ( 2016-06-01 12:52:59 -0600 )edit

In your launch file are 2 different mapping nodes and 2 different navigation nodes, this will not work.

Sebastian Kasperski gravatar imageSebastian Kasperski ( 2016-06-02 02:07:06 -0600 )edit

I have just editted post! @Sebastian Kasperski

Alvaro Salcedo gravatar imageAlvaro Salcedo ( 2016-06-02 04:31:46 -0600 )edit

You also don't need amcl when using slam. Please check the nav2d tutorials. Does your robot move when you send something to cmd_vel? And check with rostopic echo if something is even send on this topic. With just "The robot doesn't move", nobody can help you.

Sebastian Kasperski gravatar imageSebastian Kasperski ( 2016-06-02 04:40:45 -0600 )edit

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Asked: 2016-06-01 03:05:36 -0600

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Last updated: Jun 03 '16