Navigation: Localization fails after costmap 'stalls' [closed]

asked 2016-06-13 02:33:45 -0600

billy gravatar image

Hi, looking for guidance on how to correct issue on Ubuntu 14.04 with Jade, running the navigation stack.

I can get the navigation stack running and the robot sometimes makes it to the goal. Other times I see the cost map on RVIZ flash off, then within one second or so the particle cloud completely diverges and the new location of the robot jumps to the closest particle and localization is failed.

I am seeing an error in the log file and I suspect (but haven't confirmed) the error correlates with the local costmap disappearing but wouldn't know if the error is caused by the missing costmap or the error is what causes the costmap to go missing. The costmap reappears on RVIZ right after the robot has jumped.

[rosmaster.master][INFO] 2016-06-12 23:36:32,462: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:32,464: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:32,465: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:32,466: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,548: +PARAM [/amcl/initial_pose_x] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,549: +PARAM [/amcl/initial_pose_y] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,551: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,553: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,554: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,555: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,820: +PARAM [/amcl/initial_pose_x] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,821: +PARAM [/amcl/initial_pose_y] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,823: +PARAM [/amcl/initial_pose_a] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,826: +PARAM [/amcl/initial_cov_xx] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,827: +PARAM [/amcl/initial_cov_yy] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,828: +PARAM [/amcl/initial_cov_aa] by /amcl
[rosmaster.master][INFO] 2016-06-12 23:36:34,868: -PUB [/rosout] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,870: -PUB [/cmd_vel] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,870: -PUB [/move_base/current_goal] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,872: -PUB [/move_base/goal] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,873: -PUB [/move_base/global_costmap/static_layer/parameter_descriptions] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,877: -PUB [/move_base/global_costmap/static_layer/parameter_updates] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,879: -PUB [/move_base/global_costmap/obstacle_layer/parameter_descriptions] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,880: -PUB [/move_base/global_costmap/obstacle_layer/parameter_updates] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,881: -PUB [/move_base/global_costmap/inflation_layer/parameter_descriptions] /move_base http://linux-Latitude-D630:41235/
[rosmaster.master][INFO] 2016-06-12 23:36:34,883: -PUB [/move_base/global_costmap/inflation_layer/parameter_updates] /move_base http://linux-Latitude-D630:41235 ...
(more)
edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by billy
close date 2016-06-22 00:31:41.148115