Hello all, I am struggling to implement the ROS navigation using Robotino. I an using navigation_stage. Withouht connecting the robot it works but when I connect the robotino, it start blinking and the map start jumping in different position. A screenshot is given here in the image.

My launch file is as below:

---

======================================================================================= World file is given below:

---

define block model ( size [0.5 0.5 0.75] gui_nose 0 )

define topurg ranger ( sensor( range_max 30.0 fov 270.25 samples 1081 ) # generic model properties color "black" size [ 0.05 0.05 0.1 ] )

define pr2 position ( pose [ 8.5 1.5 0.0 140.0 ]

odom_error [0.03 0.03 999999 999999 999999 0.02]

size [0.25 0.25 0.25] origin [0.0 0 0 0] gui_nose 1 drive "omni" topurg(pose [ 0.275 0.000 0 0.000 ])

)

define floorplan model ( # sombre, sensible, artistic color "gray30"

# most maps will need a bounding box boundary 1

guinose 0 guigrid 0

guioutline 0 gripperreturn 0 fiducialreturn 0 rangerreturn 1 )

set the resolution of the underlying raytrace model in meters

resolution 0.1

interval_sim 100 # simulation timestep in milliseconds

window ( size [ 600.0 700.0 ] center [ 0.0 0.0 ] rotate [ 0.0 0.0 ] scale 50 )

load an environment bitmap

floorplan ( name "rasellab" bitmap "../maps/moduleB2.png" size [10.0 10.00 2.0] pose [ 5.0 5.0 0.0 0.0 ] )

throw in a robot

pr2( pose [ 2.0 5.0 0 28.00 ] name "robotino_rasel" color "blue")

block( pose [ -24.269 48.001 0 180.000 ] color "red")

---

My robot is robotino and having no laser scan device. I always get the warning message "The origin for the sensor at (12.29, 25.99, 0.25) is out of map bounds. So, the costmap cannot raytrace for it. "

The global costmap is as below:

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globalcostmap: #Set the global and robot frames for the costmap globalframe: /map robotbaseframe: base_link

#Set the update and publish frequency of the costmap updatefrequency: 5.0 publishfrequency: 0.0

#We'll use a map served by the mapserver to initialize this costmap staticmap: true rolling_window: false

footprint_padding: 0.02

and the local costmap is :

localcostmap: #We'll publish the voxel grid used by this costmap publishvoxel_map: true

#Set the global and robot frames for the costmap globalframe: odom robotbaseframe: baselink

#Set the update and publish frequency of the costmap updatefrequency: 5.0 publishfrequency: 2.0

#We'll configure this costmap to be a rolling window... meaning it is always #centered at the robot staticmap: true rollingwindow: true width: 6.0 height: 6.0 resolution: 0.025 origin_x: 0.0

origin_y: 0.0