Slam_Gmapping will not run with an increased simulator time (Morse Simulator)

asked 2016-07-21 12:15:05 -0600

mscott gravatar image

updated 2016-07-21 14:40:14 -0600

I am currently running ros indigo on Ubuntu 14.04. I also use the robotics Simulator MORSE with ROS as middleware. For my simulations I have the robot (quadrotor) fly through the MORSE environment, and use ROS nodes to scan the environment and record the occupancy grid data. I use gmapping (rosrun gmapping slam_gmapping scan:=/base_scan _odom_frame:=/odom) for my laser scanning/mapping. Everything was working fine, I could fly the robot manually, give a goal via RVIZ, write python scripts for waypoints, ect. The problem: The simulations I run take quite a while to run, so I am now speeding up the simulation in MORSE and would like ROS to record the data appropriately. Running gmapping will now not work when I increase the simulation time. No error messages are really given, gmapping will simply not run, which makes my launch files not run either. I believe the problem is with time, as gmapping probably needs to have a parameter added to it to make sure it is properly synced with MORSE.

My launch files for reference:

Launch file1:

<launch>
          <!-- urdf xml robot description loaded on the Parameter Server-->
          <param name="robot_description" textfile="/home/exalabs5/full_simulation/Slam-waypoint-Navigation/atrv_sim/quadrotor.urdf" />

          <!-- source that publishes the joint positions as a sensor_msgs/JointState -->
          <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

          <!-- publish all the frames to TF -->
          <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

          <node pkg="tf" type="static_transform_publisher" name="base_link_to_base_laser_link" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /base_laser_link 100" />
          <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0 0 0 0  /base_footprint /base_link 100"  />

        </launch>

Launch file 2:

<launch>

    <node name="amcl" pkg="amcl" type="amcl">
        <remap from="/scan" to="/base_scan" />
    </node>



    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">

    <remap from="map" to="/map" />

    <!--param name="footprint_padding" value="0.01" /-->
    <!--param name="controller_frequency" value="0.5" /-->
    <!--param name="controller_patience" value="8.0" /-->
    <!--param name="planner_frequency" value="6.0" /-->
    <!--param name="oscillation_distance" value="0.1" /-->
    <!--param name="heading_lookahead" value="2.0" /-->


    <rosparam file="$(find morse_2dnav)/morse_move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find morse_2dnav)/morse_move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find morse_2dnav)/morse_move_base/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find morse_2dnav)/morse_move_base/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find morse_2dnav)/morse_move_base/base_local_planner_params.yaml" command="load" />
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    <rosparam file="$(find morse_2dnav)/morse_move_base/dwa_planner_ros.yaml" command="load" />


    </node>


</launch>

Any suggestions would be very helpful, thanks!

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