2D nav goal doesn't work

asked 2017-02-09 23:42:24 -0600

Acecryz gravatar image

updated 2017-02-10 00:37:07 -0600

gvdhoorn gravatar image

I have been given the task to fix this custom robot to have the ability to use the 2D nav goal

this has been a project handed down student to student

There is an existing roslaunch that activates all the nodes however 2D nav goal does not work

Here is the roslaunch code and keyboard teleop as well I was told that I need to launch both to achieve 2D nav goal

yinht@yinht-desktop:~$ roslaunch hostbot hostbot.launch
... logging to /home/yinht/.ros/log/475151fc-ef50-11e6-a633-00215cbf656c/roslaunch-yinht-desktop-12680.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:42810/

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 ...
(more)
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Comments

For future reference: to format code with the Preformatted Code button (the one with 101010 on it), select all lines that need to be placed in the code block, then press the button (or use ctrl+k).

gvdhoorn gravatar imagegvdhoorn ( 2017-02-10 00:38:00 -0600 )edit

Thank you, now I know.

Acecryz gravatar imageAcecryz ( 2017-02-10 00:43:47 -0600 )edit