GPS waypoints with navsat_transform_node + move_base + navigation stack

asked 2017-05-11 09:13:35 -0500

Marcus Barnet gravatar image

updated 2017-05-12 14:32:57 -0500

Hi to all,

I have a skid-steering wheeled robot with RTK GPS, a SICK laser and a IMU which outputs orientation data. Thanks to the support of @Tom-moore, i was able to correctly setup the odometry (GPS+encoders+IMU). Now, I would like to send a PoseStamped message with move_base in order to implement a GPS waypoint navigation.

I tried to simply run the command:

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: osition: {x: 4.95, y: -13, z: 0.0}, orientation: {w: 1.0}}}'

but the robot is not moving in RVIZ. I think that move_base should be used on a map, is it correct?

Do I need do build a map by using gmapping or similar ROS packages like AMCL?

I'm sorry for these beginner questions, but I'm not able to correctly understand how to build a GPS waypoints navigation.

If I need to use gmapping, how can I use my odometry data?

I tried to do this:

rosrun gmapping slam_gmapping scan:=scan
rosrun rviz rviz
roslaunch husky-gps1.launch

but I see the points of the map in RVIZ jumping and shifting without any logical reason. If I do not launch the gmapping node, then the robot path showed in RVIZ is correct.

What is my mistake?

This is my bag file (32 MB) which contains these topics:

rosbag info test4.bag 
path:        test4.bag
version:     2.0
duration:    3:09s (189s)
start:       May 12 2017 16:40:21.09 (1494600021.09)
end:         May 12 2017 16:43:30.81 (1494600210.81)
size:        31.3 MB
messages:    19139
compression: none [42/42 chunks]
types:       nav_msgs/Odometry     [cd5e73d190d741a2f92e81eda573aca7]
             sensor_msgs/Imu       [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
             sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48]
topics:      /fix                               190 msgs    : sensor_msgs/NavSatFix
             /husky_velocity_controller/odom   1897 msgs    : nav_msgs/Odometry    
             /imu/data                         7590 msgs    : sensor_msgs/Imu      
             /scan                             9462 msgs    : sensor_msgs/LaserScan

This is my launch file for the ekf_localization_node and navsat_transform_node.

<launch>

 <rosparam command="load" file="$(find husky_control)/config/control.yaml" />

  <node name="base_controller_spawner" pkg="controller_manager" type="spawner" args="husky_joint_publisher husky_velocity_controller --shutdown-timeout 3"/>



 <node pkg="rosbag" type="play" name="rosbag_play" output="screen" args="--clock /home/rocco/Desktop/gps/test1.bag -d 3"/>

    <node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 base_link base_imu" />
    <node pkg="tf2_ros" type="static_transform_publisher" name="bl_gps" args="0 0 0.4 0 0 0 base_link gps" /> 
  <node pkg="tf2_ros" type="static_transform_publisher" name="bl_laser" args="0.4 0 0.2 0 0 0 base_link laser" /> 

    <!-- Local (odom) instance -->
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_local" clear_params="true">
      <param name="frequency" value="10"/>
      <param name="sensor_timeout" value="0.1"/>
      <param name="two_d_mode" value="false"/>

      <param name="map_frame" value="map"/>
      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="base_link"/>
      <param name="world_frame" value="odom"/>

      <param name="transform_time_offset" value="0.0"/>

      <param name="odom0" value="/husky_velocity_controller/odom"/>
      <param name="imu0" value="/imu/data"/>

      <rosparam param="odom0_config">[false, false, false,
                                      false, false, false,
                                      true, true, true,
                                      false, false, true,
                                      false, false, false]</rosparam>

      <rosparam param="imu0_config">[false, false ...
(more)
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Comments

I updated my question by adding a bag file. I hope someone can help me.

Marcus Barnet gravatar imageMarcus Barnet ( 2017-05-12 11:06:42 -0500 )edit

any suggestions?

Marcus Barnet gravatar imageMarcus Barnet ( 2017-06-02 10:32:04 -0500 )edit