base_footprint not being updated on map

asked 2017-03-24 12:07:11 -0600

Shilpan gravatar image

updated 2017-04-11 12:57:17 -0600

I have added a prebuilt map on RVIZ( as .yaml file using Map_Server) and have executed AMCL. I am able to see Pose Array, Map, LaserScan, TF, Pose, odom, and RobotModel on the side menu bar of RVIZ.

Problem:base_footprint is not being updated and laser scan is not being matched to the prebuilt map.

I am able to find the shortest path (green line) to destination goal, and pose array is being updated as the robot moves to a new random location

Any ideas on why this might be happening and how to fix it?? I am trying to accomplish autonomous navigation using a prebuilt map.

Thanks!

Here is my launch file:

<launch> <node name="map_server1" pkg="map_server" type="map_server" args="$(find map_server)/office.yaml"/>

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40"/>

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen"> </node>

<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_diff.launch" />

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

<rosparam file="$(find navigation2d_example)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find navigation2d_example)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find navigation2d_example)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation2d_example)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation2d_example)/param/base_local_planner_params.yaml" command="load"/>
</node>

<node pkg="tf" type="static_transform_publisher" name="world_map" args="0 0 0 0 0 0 world map 10" />

<node pkg="tf" type="static_transform_publisher" name="map_odom" args="0 0 0 0 0 0 map odom 10" />

<node pkg="tf" type="static_transform_publisher" name="odom_base_link" args="0 0 0 0 0 0 odom base_footprint 20" />

<node pkg="tf" type="static_transform_publisher" name="base_foorptint_movebase" args="0 0 0 0 0 0 base_footprint move_base 20" />

<node pkg="tf" type="static_transform_publisher" name="movebase_baselink" args="0 0 0 0 0 0 move_base base_link 10" />

<node pkg="tf" type="static_transform_publisher" name="base_link_scanmatcher_frame" args="0 0 0 0 0 0 base_link scanmatcher_frame 25" />

<node pkg="tf" type="static_transform_publisher" name="base_link_nav" args="0 0 0 0 0 0 base_link nav 13" />

<node pkg="tf" type="static_transform_publisher" name="base_link_base_frame" args="0 0 0 0 0 0 base_link base_frame 13" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser" args="0 0 0 0 0 0 base_link laser 10" />

</launch>

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