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Multiple Robot Navigation

asked 2016-07-19 23:20:39 -0500

David_Zizu gravatar image

updated 2016-07-19 23:26:25 -0500

I know that similar question were already asked here but there is no solution to my problem. I run navigation on several turtlebots using one shareable map. However, I have encountered a problem setting up different namespaces and tf_prefixes for each robot. I always get a warning that there is no transformation between robot_0/base_footprint and map. However, when I try to set the static transformation between robot_0/odom and map frames (these 2 frames are fixed; therefore I though that static transformation should work), I get the following warning "MessageFilter [target=map ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information." As a result I am not able to send any goal (e.g. going from point A to point B) even though the tree is right (map->robot_0/odom->robot_0/base_footprint->robot_0/base_link->...). I am pretty sure that someone already had similar problems. Could someone please help me, I have been working on this problem for a week but still couldn't find a solution. Here is my launch file:

<launch>
<group ns="pinky"> 
<param name="tf_prefix" value="pinky" />
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
   <arg name="rgb_processing" value="false" />
   <arg name="depth_registration" value="false" />
   <arg name="depth_processing" value="false" />

   <!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".
     Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 --> 
   <arg name="scan_topic" value="/pinky/scan" />
 </include>

 <!-- Map server -->
 <arg name="map_file" default="/home/turtlebot/map/task1.yaml"/>
 <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
    <param name="frame_id" value="/map" />
    <remap from="map_metadata" to="/map_metadata"/>
    <remap from="map" to="/map"/>
 </node>

 <arg name="initial_pose_x" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
 <arg name="initial_pose_y" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
 <arg name="initial_pose_a" default="0.0"/>

<include file="$(find turtlebot_navigation)/launch/includes/DG_amcl.launch.xml">
   <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
   <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
   <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
</include>

<!--Static transformation included because I get warning about transformation-->
<node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0 0 0 0 0 0 /map /pinky/odom 100" />

 <include file="$(find turtlebot_navigation)/launch/includes/pinky_move_base.launch.xml"/>
</group>
</launch>

I think that error is either in DG_amcl_demo.launch.xml or in pinky_move_base.launch.xml. That is why here is the code for both of these files:

<launch>
<arg name="use_map_topic"  default="false"/>
<arg name="scan_topic"     default="scan"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>

<node pkg="amcl" type="amcl" name="amcl">
   <param name="use_map_topic"             value="$(arg use_map_topic)"/>
   <!-- Publish scans from best pose at a max of 10 Hz -->
   <param name="odom_model_type"           value="diff"/>
   <param name="odom_alpha5"               value="0.1"/>
   <param name="gui_publish_rate"          value="10.0"/>
   <param name="laser_max_beams"             value="60"/>
   <param name="laser_max_range"           value="12.0 ...
(more)
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Comments

+1 I am having the same problem trying to configure two robotinos to share a map, both of them connected to a common master in another computer. If you find a solution please let me know, thanks!.

raultron gravatar imageraultron ( 2016-07-27 04:20:32 -0500 )edit

I wonder if you have done this?Let me know,please.

LucYang gravatar imageLucYang ( 2018-07-28 11:40:29 -0500 )edit

Hello, i'm trying to launch navigation of 3 turtlebot3s, and i got the same warning as yours: "MessageFilter [target=map ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information." I wonder if you have found a solution?

zero2hero gravatar imagezero2hero ( 2018-08-28 05:55:01 -0500 )edit

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answered 2016-08-01 08:04:49 -0500

raultron gravatar image

I had a similar problem and found this solution:

http://answers.ros.org/question/41433...

Hopefully it will work for you too.

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Asked: 2016-07-19 23:20:39 -0500

Seen: 1,108 times

Last updated: Aug 01 '16