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Still waiting on map...

asked 2012-03-01 17:24:16 -0500

jacobylarson gravatar image

I am transitioning from simulation using stage and fake_localization to a real robot. I am running the exact same map_server each time on the robot and move_base node with sbpl_lattice_planner off the robot (my laptop). When I run the simulation, move_base receives the map and then everything else (robot footprint, obstacles, local plan, global plan, etc.). But when I remove the stage_ros node and fake_localization, move_base tells me it is "Still waiting on map...". I have tried to copy every possible message I can from simulation to the robot: all the tf's, amcl_pose, odom, particlecloud. There are only two topics I am not sending, clock and base_scan. But in costmap_common_params.yaml I don't request a base_scan (because I am sending a pointCloud instead), and I don't think that would hold up the map. Should I implement my own clock? I set the param use_sim_time to 0, so I didn't think I needed it.

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answered 2012-03-01 19:52:52 -0500

tfoote gravatar image

You will need to restart any process which has been started with use_sim_time true. All nodes latch into waiting for simulated time if use_sim_time is set or if a clock message is received. They will not transition back to using system time.

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answered 2012-03-01 18:03:54 -0500

jacobylarson gravatar image

I ended up writing a clock that just pulls in the wall clock-time and publishes that. It worked. The problem might be that when I run the launch file, which just creates a move_base node and rvis, the rosparam of use_sim_time changes from 0 to true. Maybe that is why it needs a clock? I don't know why it changes the use_sim_time parameter and Iwould be open to suggestions on how to run move_base node and rvis without it changing.

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Asked: 2012-03-01 17:24:16 -0500

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Last updated: Mar 01 '12