Nav2d Turtlebot3 not receiving map when running Tutorial 3

asked 2018-03-19 14:57:48 -0500

mhay2014@gmail.com gravatar image

updated 2018-03-19 19:33:06 -0500

jayess gravatar image

I am trying to modify the Nav2d Tutorials to work with my Turtlebot3 to do autonomous mapping of an unknown space. I was able to get Tutorials 1 and 2 working by replacing "Stage" with my robot information, as well as remapping of the param files to match the scan/laser topics.

My rqt_graph shows /scan going /Operator and /RVIZ, as well as /map going from Mapper to RVIZ, but RVIZ is showing the error "No map received". The costmap shows appropriately.

Here is my launch file:

<launch>

    <!-- Some general parameters -->
    <param name="use_sim_time" value="false" />
    <rosparam file="$(find nav2d_tutorials)/param/ros_nav.yaml"/>

    <!-- Turtlebot 3 -->
    <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch" />

    <!-- Start the Operator to control the simulated robot -->
    <node name="Operator" pkg="nav2d_operator" type="operator" >
        <!-- <remap from="scan" to="base_scan"/> -->
        <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
        <rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
    </node>

    <!-- Start Mapper to genreate map from laser scans -->
    <node name="Mapper" pkg="nav2d_karto" type="mapper">
        <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
    </node>

    <!-- Start the Navigator to move the robot autonomously -->
    <node name="Navigator" pkg="nav2d_navigator" type="navigator">
        <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
    </node>

    <node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />

    <node name="Explore" pkg="nav2d_navigator" type="explore_client" />
    <node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />

    <!-- Start the joystick-driver and remote-controller for operation-->
    <node name="Joystick" pkg="joy" type="joy_node" >
        <param name="dev" type="str" value="/dev/input/js1" />
    </node>

    <node name="Remote" pkg="nav2d_remote" type="remote_joy" />

    <!-- RVIZ to view the visualization -->
    <node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial2.rviz" />
</launch>

Any help would be greatly appreciated

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Comments

I was able to get a map to generate using

mhay2014@gmail.com gravatar imagemhay2014@gmail.com ( 2018-03-19 15:15:53 -0500 )edit

So your question is solved?

Sebastian Kasperski gravatar imageSebastian Kasperski ( 2018-03-20 02:42:45 -0500 )edit
1

We still can’t get the exploration to work even though it is working in the tutorial. When sending a Rosservice call /StartExploration the goal is received, but the robot doesn’t do anything or move. We aren’t sure if this is because we changed from nav2d_karto to gmapping

mhay2014@gmail.com gravatar imagemhay2014@gmail.com ( 2018-03-20 07:46:57 -0500 )edit

Did you try the rosservice call /StartMapping for the initial position?

artur gravatar imageartur ( 2018-06-11 07:32:14 -0500 )edit

What parameter uses the turtlebot3 in the ros_nav.yaml?

DeMoy23 gravatar imageDeMoy23 ( 2018-11-06 09:52:21 -0500 )edit

Can anyone solve this problem?

gokhan.acer gravatar imagegokhan.acer ( 2019-07-09 10:47:42 -0500 )edit