Navigation Doesn't work

I am trying to follow a simple tutorial of building 2d map, but encountered some problems.

In RVIZ, the indicator of my robot seems flying around and the navigation target doesn't work. The robot just wouldn't move.

image description

I am using the gazebo simulator of turtlebot.

Step by Step commands:

roslaunch turtlebotgazebo turtlebotworld.launch

roslaunch turtlebotteleop keyboardteleop.launch

roslaunch turtlebotrvizlaunchers view_navigation.launch

roslaunch turtlebotgazebo gmappingdemo.launch

roslaunch turtlebotgazebo amcldemo.launch

The demo I am following: https://youtu.be/B0s6dSxF95c

Asked by rozoalex on 2017-07-09 14:36:43 UTC

Comments

Based solely on the filenames, I am assuming that you are running both amcl and gmapping. Gmapping should be sufficient for map generation, and then you should use amcl on the generated map. There is no real use of amcl and gmapping running at the same time.

Asked by gstavrinos on 2017-07-10 02:46:42 UTC

Answers

Assuming that there aren't any error messages in the output of the commands you executed, one possible problem is trying to run at the same time the keyboard teleop with the move base node (which is launched in the amcl_demo.launch file). If you want to send goals to the robot using the 2D Nav Goal tool of RViz, you should stop the keyboard teleop node. Otherwise, it may conflict with the move base node when it tries to send velocity commands to the robot, which results in the robot not moving at all.

Also, I highly recommend you to have a look at this video, which shows how to easily reproduce the same steps you are trying to do. It will help you to better understand the whole process.

Asked by Alberto E. on 2017-07-10 07:40:41 UTC

Comments

Although I believe that you're correct in that the problems is with running both the teleop and amcl nodes, why not post the steps here instead of linking to a youtube video? It would make this answer much more valuable.

Asked by jayess on 2017-07-24 18:04:15 UTC