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How to use an image in move_base to create a map in RVIZ

indigo

asked 2018-02-06 04:07:15 -0500

Mark Borg
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I would like to use the path planning capability of move_base to plot a path through a map that I initialize from an image I created of a white background with black circles on it (I was unable to attach the image not enough points) using this command: rosrun map_server map.png map.yaml I know the map server then publishes an initial map based off of my image, but I am having trouble getting move_base to plot an actual course. I would like to display the plotted course in rviz.

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Please Elaborate on the steps you did to command a Goal, as well as adding the expected Input and the Output you saw...

mgruhler ( 2018-02-06 08:09:01 -0500 )edit

In RVIZ the map is displayed and the Pioneer 3dx robot is sitting on the map. I can click on 2D goal and it allows me to place a goal (arrow) on the map. But the robot does not move to that goal. There are no errors. The Pioneer moves with rqt_gui and that movement is reflected in RVIZ

Mark Borg ( 2018-02-06 08:42:04 -0500 )edit

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answered 2018-09-26 13:12:45 -0500

Mark Borg
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updated 2018-09-26 17:18:26 -0500

jayess
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The problem I was experiencing was that I had not set up the obstacles_layer correctly. The correction is shown as:

obstacles_layer:
  observation_sources: scanMap
  scanMap: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: false}

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Asked: 2018-02-06 04:07:15 -0500

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Last updated: Sep 26 '18

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