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How to make 2D nav goal work

asked 2017-02-08 21:55:25 -0500

Acecryz gravatar image

updated 2017-02-09 01:36:59 -0500

mgruhler gravatar image

I'm a student working on my final year project all I have to do is make this custom robot to move using 2d nav goal however, the robot just doesn't move where I want it to i'm very close to the deadline and freaking out any help would be appreciated.

This is the launch file that my seniors have been working on

yinht@yinht-desktop:~$ roslaunch hostbot hostbot.launch
... logging to /home/yinht/.ros/log/79283f6a-ee79-11e6-bbfe-00215cbf656c/roslaunch-yinht-desktop-2930.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yinht-desktop:39397/

SUMMARY
========

PARAMETERS
 * /amcl/gui_publish_rate: 10.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 30
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 5000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.2
 * /amcl/odom_alpha3: 0.8
 * /amcl/odom_alpha4: 0.2
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: odom
 * /amcl/odom_model_type: omni
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 0.1
 * /amcl/update_min_a: 0.5
 * /amcl/update_min_d: 0.2
 * /arduino/baud: 115200
 * /arduino/port: /dev/ttyUSB0
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: False
 * /camera/driver/device_id: #1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /diffusion_tf/angle_std_mean_deviation_deg: 10
 * /diffusion_tf/angular_scale: 1.0
 * /diffusion_tf/base_frame_id: base_link
 * /diffusion_tf/base_width: 0.34
 * /diffusion_tf/linear_scale: 1.0
 * /diffusion_tf/odom_frame_id: odom
 * /diffusion_tf/pos_std_mean_deviation: 0.1
 * /diffusion_tf/publish_tf: True
 * /diffusion_tf/rate: 40
 * /diffusion_tf/vit_ang_std_mean_deviation_deg: 3
 * /diffusion_tf/vit_std_mean_deviation_deg: 1
 * /hokuyo_laser/calibrate_time: False
 * /hokuyo_laser/frame_id: base_laser_link
 * /hokuyo_laser/intensity: False
 * /hokuyo_laser/max_ang: 1.4
 * /hokuyo_laser/min_ang: -1.4
 * /hokuyo_laser/port: /dev/ttyACM0
 * /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.0
 * /move_base/TrajectoryPlannerROS/acc_lim_x: 2.0
 * /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
 * /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.025
 * /move_base/TrajectoryPlannerROS/dwa: True
 * /move_base/TrajectoryPlannerROS/escape_vel: -0.05
 * /move_base/TrajectoryPlannerROS/gdist_scale: 0.6
 * /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
 * /move_base/TrajectoryPlannerROS/heading_scoring: False
 * /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
 * /move_base/TrajectoryPlannerROS/holonomic_robot: False
 * /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False
 * /move_base/TrajectoryPlannerROS/max_rotational_vel: 0.15
 * /move_base/TrajectoryPlannerROS/max_vel_theta: 0.15
 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.3
 * /move_base/TrajectoryPlannerROS/max_vel_y: 0.0
 * /move_base/TrajectoryPlannerROS/meter_scoring: True
 * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.5
 * /move_base/TrajectoryPlannerROS/min_vel_theta: -0.15
 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
 * /move_base/TrajectoryPlannerROS/min_vel_y: 0.0
 * /move_base/TrajectoryPlannerROS/occdist_scale: 0.1
 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05
 * /move_base/TrajectoryPlannerROS/pdist_scale: 0.8
 * /move_base/TrajectoryPlannerROS/prune_plan: True
 * /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: False
 * /move_base/TrajectoryPlannerROS/sim_granularity: 0.025
 * /move_base/TrajectoryPlannerROS/sim_time: 1.0
 * /move_base/TrajectoryPlannerROS/simple_attractor: False
 * /move_base/TrajectoryPlannerROS/vtheta_samples: 20
 * /move_base/TrajectoryPlannerROS/vx_samples: 8
 * /move_base/TrajectoryPlannerROS/vy_samples: 0
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.3
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.15
 * /move_base/clearing_rotation_allowed: False
 * /move_base/controller_frequency: 5.0
 * /move_base/global_costmap/footprint: [[0.2, 0.2], [0.2...
 * /move_base/global_costmap/global_frame: /map
 * /move_base/global_costmap ...
(more)
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Please use the preformatted text button (with 101010 on it) to post any code or terminal output...

mgruhler gravatar imagemgruhler ( 2017-02-09 01:35:44 -0500 )edit

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answered 2017-02-09 01:42:25 -0500

mgruhler gravatar image

Seriously, you need to work a bit more on your problem description skills. This holds for your other question as well: http://answers.ros.org/question/25418...

As both rviz commands to the robot do not work, I guess you have rviz running on another machine (a laptop, e.g.).

You probably set the ROS_MASTER_URI. But for the buttons to properly work, you need to be able to ping both participants via IP and hostname.

Quick search about your problem led to this answer here on this page: http://answers.ros.org/question/10343...

Set the ROS_IP on your PC running rviz accordingly. This should help, hopefully.

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Asked: 2017-02-08 21:55:25 -0500

Seen: 615 times

Last updated: Feb 09 '17