Using move_base without map

asked 2016-07-15 17:20:05 -0600

igd
46 ●3 ●4 ●8

updated 2016-07-15 17:21:05 -0600

Very similar to this question but it went unanswered http://answers.ros.org/question/15509...

I'm trying to use move_base to drive my robot and have no map because I don't need to to any obstacle avoidance. I have robot_localization publishing all the necessary odometry information. This should be fine according to the navigation tutorial but when I launch the move_base node it gets stuck at Requesting the map... and just hangs, is there anything else I should be setting to tell move_base not to look for one? My launch and yaml files are below. Any help figuring out where I'm going wrong would be greatly appreciated. Thanks!

costmap_common_params.yaml

    obstacle_range: 2.5
    raytrace_range: 3.0
    #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
    robot_radius: 0.1
    inflation_radius: 0.2`

global_costmap_params.yaml

global_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

base_local_planner_params.yaml

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

move_base.launch

<launch>
  <master auto="start"/>
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="/home/erle/ros_catkin_ws/src/erle_rover_2dnav/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="/home/erle/ros_catkin_ws/src/erle_rover_2dnav/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="/home/erle/ros_catkin_ws/src/erle_rover_2dnav/local_costmap_params.yaml" command="load" />
    <rosparam file="/home/erle/ros_catkin_ws/src/erle_rover_2dnav/global_costmap_params.yaml" command="load" />
    <rosparam file="/home/erle/ros_catkin_ws/src/erle_rover_2dnav/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

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Comments

Where are the plugins in your global_costmap_params.yaml?

Arwen ( 2016-07-17 08:08:05 -0600 )edit

I didn't have any as there was no mention of them in the navigation stack tutorial, but I added plugins: [] to my launch file and it doesn't seem to do anything. Strangely my error is different now even with my original configuration, it gets stuck waiting for the base_link->map transform

igd ( 2016-07-18 12:22:44 -0600 )edit

I'm very confused as to how and why move_base is looking for a transform to map. I intend to use odom as my global frame and make no mention of map anywhere. Where is move_base even getting the name "map"?

igd ( 2016-07-18 12:59:55 -0600 )edit

Hey! Were you able to solve this problem?