Implementation of a* algorithm on turtlebot simulation
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??
Do the launch files for turtlebot accept a
simargument?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).
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 ??