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Implementation of a* algorithm on turtlebot simulation

asked 2018-03-18 09:23:23 -0600

DeepaliA gravatar image

updated 2018-03-18 11:06:45 -0600

gvdhoorn gravatar image

Hello, I am working on Ubuntu 14.04 and ROS Indigo. I am trying to implement relaxed a* algorithm as given in this tutorial. I am new to ROS and I dont have actual turtlebot. I want to run this with a simulation of turtlebot.

I am getting following error when I run roslaunch relaxed_astar test.launch:

process[move_base-27]: started with pid [14681]
[ INFO] [1521382205.529584483]: Initializing nodelet with 4 worker threads.
[ INFO] [1521382205.668392247]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-indigo-openni2-camera-0.3.0/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
[ INFO] [1521382206.283305266]: Zeroconf: service successfully established [turtlebot][_ros-master._tcp][11311]
[ INFO] [1521382208.668656600]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-indigo-openni2-camera-0.3.0/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1521382211.190876509]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100752 timeout was 0.1.

This is my test.launch file:

 <launch>
 <include file="$(find turtlebot_bringup)/launch/minimal.launch"></include>

   <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
     <arg name="rgb_processing" value="false" />
     <arg name="depth_registration" value="false" />
     <arg name="depth_processing" value="false" />
     <arg name="scan_topic" value="/scan" />
   </include>

   <!-- Map server -->
   <arg name="map_file" default="/home/deepali/catkin_ws_turtlebot/src/relaxed_astar/maps/my_map.yaml"/>
   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

   <!-- Localization -->
   <arg name="initial_pose_x" default="0.0"/>
   <arg name="initial_pose_y" default="0.0"/>
   <arg name="initial_pose_a" default="0.0"/>
   <include file="$(find turtlebot_navigation)/launch/includes/amcl/amcl.launch.xml">
     <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
     <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
     <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
   </include>

   <!-- Move base -->
   <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>

 </launch>

What changes shall I make in test.launch file so that I can test the algorithm with the simulation??

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Comments

Do the launch files for turtlebot accept a sim argument?

JamesGiller gravatar image JamesGiller  ( 2018-03-18 19:39:54 -0600 )edit

You should probably look at using turtlebot_simulator instead of turtlebot_bringup. Additionally, while you're still getting it working you should launch nodes one at a time instead of all at once (to help identify issues).

stevejp gravatar image stevejp  ( 2018-03-19 07:24:05 -0600 )edit

Which launch file from above turtlebot_simulator package shall I use to replace $(find turtlebot_bringup)/launch/minimal.launch and $(find turtlebot_bringup)/launch/3dsensor.launch ??

DeepaliA gravatar image DeepaliA  ( 2018-03-19 13:51:52 -0600 )edit

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answered 2018-03-22 14:04:43 -0600

DeepaliA gravatar image

updated 2018-03-22 14:26:30 -0600

gvdhoorn gravatar image

I changed my test.launch same as turtlebot_in_stage.launch which is in turtlebot_simulator package. My test.launch file:

<launch>
      <include file="$(find turtlebot_stage)/launch/turtlebot_in_stage.launch"/>
</launch>

After that I have just added the following line

<param name="base_global_planner" value="RAstar_planner/RAstarPlannerROS"/>

in move_base.launch.xml file. It works fine.

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Asked: 2018-03-18 09:23:23 -0600

Seen: 258 times

Last updated: Mar 22 '18