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Turtlebot never moves during "Sending goal" with frontier_exploration

asked 2016-06-15 00:05:08 -0500

130s gravatar image

updated 2016-06-15 00:17:21 -0500

Different issue from http://answers.ros.org/question/19618...

Using a package I just made, which launches Gazebo, gmapping, and nodes from frontier_exploration by the following command:

roslaunch turtlebot_samples exploration_all.launch

Turtlebot stands still while I believe I give a goal point successfully (BTW I've added a step-by-step instruction for running a demo).

[ INFO] [1465966486.877459779, 0.553000000]: Using plugin "static"
[ INFO] [1465966486.959412012, 0.627000000]: Requesting the map...
[ INFO] [1465966490.228531000, 3.765000000]: Laser is mounted upwards.
 -maxUrange 6 -maxUrange 8 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.01 -srt 0.02 -str 0.01 -stt 0.02
 -linearUpdate 0.5 -angularUpdate 0.436 -resampleThreshold 0.5
 -xmin -1 -xmax 1 -ymin -1 -ymax 1 -delta 0.05 -particles 80
[ INFO] [1465966490.231561648, 3.767000000]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= -0.0869791 0.0474907 0.00146067
m_count 0
Registering First Scan
[ INFO] [1465966490.300927799, 3.834000000]: Resizing costmap to 288 X 480 at 0.050000 m/pix
[ INFO] [1465966490.399388756, 3.934000000]: Received a 288 X 480 map at 0.050000 m/pix
[ INFO] [1465966490.405104350, 3.940000000]: Using plugin "explore_boundary"
[ INFO] [1465966490.518579672, 4.043000000]: Using plugin "sensor"
[ INFO] [1465966490.523587916, 4.048000000]:     Subscribed to Topics: laser
[ INFO] [1465966490.589479815, 4.110000000]: Using plugin "inflation"
[ WARN] [1465966511.346433533, 24.659000000]: Please select an initial point for exploration inside the polygon
[ INFO] [1465966514.076453670, 27.361000000]: Sending goal

image description

I'm guessing something in my config for frontier_exploration maybe specific to Turtlebot, but not sure. I'm looking at frontier_exploration/launch/global_map.launch and husky_navigation/launch/exploration.launch in particular.

Thanks.

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answered 2016-06-16 03:18:29 -0500

130s gravatar image

move_base was not running. I fixed it in this PR.

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Asked: 2016-06-15 00:05:08 -0500

Seen: 300 times

Last updated: Jun 16 '16