Gmapping working on my jackal but localization is not working

asked 2018-07-17 06:00:14 -0600

dkrivet gravatar image

updated 2018-07-17 07:55:31 -0600

I have a clearpath jackal robot which I am using the nav stack on. I have successfully configured the robot so that when I run: roslaunch jackal_viz view_robot.launch config:=gmapping I am able to map the office environment that the jackal is in. However, after saving the map and running roslaunch jackal_navigation amcl_demo.launch map_file:=/path/to/my/map/mymap.yaml on the jackal and roslaunch jackal_viz view_robot.launch config:=localization I get an error in Rviz saying Fixed Frame [map] does not exist. Using the same launch files, the localization works in simulation (Gazebo), but it does not work on the real jackal. Any help would be appreciated, I am very new to ROS.

C:\fakepath\RQTTREE.png

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are you sure nav_stack is running?

Choco93 gravatar image Choco93  ( 2018-07-17 06:19:56 -0600 )edit

Yes. I follow exactly the same steps that I used in simulation and worked, but now on the actual jackal it doesn't work

dkrivet gravatar image dkrivet  ( 2018-07-17 06:21:32 -0600 )edit

use rosrun rqt_tf_tree rqt_tf_tree on a sourced window to see if map frame exists. Also check /map topic, use rostopic info /map to see which nodes are subscribing to it, and whether move_base has subscribed to it.

Choco93 gravatar image Choco93  ( 2018-07-17 06:34:23 -0600 )edit

Are you literally typing /path/to/my/map/mymap.yaml for the path or is this just a place holder for your question?

jayess gravatar image jayess  ( 2018-07-17 10:47:13 -0600 )edit

No I am including the actual path. It was just a place holder for my question

dkrivet gravatar image dkrivet  ( 2018-07-17 10:48:52 -0600 )edit

The tf tree shows that there's no map frame, is the map_server running? Also, can you post the rqt_graph of your system? I've given some karma so that you can put images directly into your question.

jayess gravatar image jayess  ( 2018-07-17 10:52:46 -0600 )edit
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