2D Nav Goal not working in Husky

asked 2017-12-05 17:07:50 -0500

kimnguyen gravatar image

Hello, I followed the instruction in this manual from clearpath http://www.clearpathrobotics.com/asse... ,to get the move base to work. I have the rviz show up and able to run the Husky through "interact" bar. However the 2D Nav Goal won't let me set goal for the Husky and it's not having any response at all. Here is the warning that I have in the terminal that run : roslaunch husky_navigation move_base_mapless_demo.launch

In the rviz , I noticed local costmap and global costmap topics both show that "no map receive", but this should be expected because with move_base, I can just be able to move the 2D Nav Goal without the map. Correct me if I'm wrong. I also noticed in the RVIZ after I use the cursor in 2D Nav Goal bar, the terminal appear this line: Setting goal: Frame:base_link, Position(1.096, -0.050, 0.000), Orientation(0.000, 0.000, -0.048, 0.999) = Angle: -0.095 So, it seems like it receives some response from rviz, but the robot just not moving.

So my question is, is there anything that I did wrong, or the Husky_navigation package have some error ? Is there anywhere particularly to look with such problem like this?Thank you.

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Could you please post more info about the rviz menu? What is the status of the robot model? Does it show any errors?

Tankr94 gravatar image Tankr94  ( 2021-04-04 02:00:27 -0500 )edit