problem with movement goal

asked 2017-06-20 08:55:16 -0600

Alemon gravatar image

updated 2017-06-22 01:39:35 -0600

image description image description Hello, friends. I'm trying to realize movement goal with a rplidar. And below are my tf and nodes frame. I want the move_base node to tell me how to approach a spot in language by TTS. After I run all the nodes, It doesn't seem to work. I got warnings like this: http://chuantu.biz/t5/112/1497967202x... Meanwhile my PC runs slowly feels like overloading. I have ran the fake_move_base demo several times but it goes fluently. Can you help me fix this problem? Thank you so much! image description

#####fake_move_base.launch##### <launch>

          <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
            <rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="global_costmap" />
            <rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="local_costmap" />
            <rosparam file="$(find rbx1_nav)/config/fake/local_costmap_params.yaml" command="load" />
            <rosparam file="$(find rbx1_nav)/config/fake/global_costmap_params.yaml" command="load" />
            <rosparam file="$(find rbx1_nav)/config/fake/base_local_planner_params.yaml" command="load" />
          </node>

        </launch>

#####costmap_common_params.yaml######

    obstacle_range: 2.5
    raytrace_range: 3.0
    #footprint: [[0.175, 0.175], [0.175, -0.175], [-0.175, -0.175], [-0.175, 0.175]]
    #footprint_inflation: 0.01
    robot_radius: 0.175
    inflation_radius: 0.2
    max_obstacle_height: 0.6
    min_obstacle_height: 0.0
    observation_sources: scan

#####global_costmap_params.yaml######
global_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 1.0 publish_frequency: 1.0 static_map: true rolling_window: false resolution: 0.01 transform_tolerance: 1.0 map_type: costmap

#####local_costmap_params.yaml######
local_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 3.0 publish_frequency: 1.0 static_map: true rolling_window: false width: 6.0 height: 6.0 resolution: 0.01 transform_tolerance: 1.0scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

edit retag flag offensive close merge delete

Comments

The control loops are running extremely slowly. What PC are you running this on? Can you tell us the CPU and RAM etc.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-06-20 17:36:22 -0600 )edit

I run this on my laptop with CPU of a i5-4210M and RAM of 4GB DDRL. And the GPU is GTX850M. I think such load isn't to heavy for my computer to run on. Is it possible that I have some configuration set improperly?

Alemon gravatar image Alemon  ( 2017-06-20 21:50:09 -0600 )edit

Something is chewing up your processing power. I would run the nodes 1 by 1, where possible, to see which is causing it. The rplidar node would be my first guess, as processing lidar data is intensive. Also this isn't the issue, but base_link should be the child of base_footprint and be static.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-06-20 22:26:00 -0600 )edit

Thank you ufr3c_tjc : D I just followed what you suggested and upload the screen shot. It seems that the move_base node take the main responsibility. Everything goes well before I give the goal, and then the move_base occupies more than 100% CPU. How am I supposed to deal with it?

Alemon gravatar image Alemon  ( 2017-06-20 23:51:43 -0600 )edit

Makes sense. Can you edit the question to include the contents of the YAML files for move_base? There should be about 6: 3 for costmaps, 1 each for local and global planner, and 1 for move_base itself.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-06-20 23:54:10 -0600 )edit

Yep, I've included the YAML files for move_base. Actually it's an original version of tutorial.

Alemon gravatar image Alemon  ( 2017-06-21 00:18:12 -0600 )edit

I don't the see the yaml files.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-06-21 00:42:40 -0600 )edit

Can you see it now?

Alemon gravatar image Alemon  ( 2017-06-21 00:49:26 -0600 )edit