Navigation influences gmpping?

asked 2018-07-28 05:30:26 -0600

lorenznew gravatar image

updated 2018-07-28 05:41:57 -0600

hey,

I try to run the navigation stack and gmapping on my robot. the Robot should be able to navigate in to "free space" and make a map of the environment. Everything is fine, until i give the first navigation goal via rviz. The robot is moving ( i think it is moving correctly btw) But the Odometry gets destroyed as soon es the robot moves. image description

My odometry is actually very good and gmapping is god if i move th robot with a teleop-node (keyboad)

do you have any ideas why the navigationstack is influencing my gmapping/odometry things?

Move_base.launch

<launch>

        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

        <rosparam file="$(find eddie_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
        <rosparam file="$(find eddie_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" /> 
        <rosparam file="$(find eddie_2dnav)/local_costmap_params.yaml" command="load" /> 
        <rosparam file="$(find eddie_2dnav)/global_costmap_params.yaml" command="load" /> 
        <rosparam file="$(find eddie_2dnav)/base_local_planner_params.yaml" command="load" /> 


    </node> 

</launch>

I get this warning:

Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0708 seconds

I'm not sure whether this i important o that problem, but i get this error from my freenect driver(for the kinect i use):

[ERROR] [1532773969.963026644]: Client [/move_base] wants topic /camera/depth/points to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection.

that one is a mirical to my, becaus i wanted to use the laserscan i have created from that pointcloud2 or navigation...and i difine tht in the costmap_common_params:

obstacle_range: 2.5
raytrace_range: 3.0

robot_radius: 0.25
inflation_radius: 0.55

observation_sources: laser_scan_sensor


laser_scan_sensor: {sensor_frame: camera_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

thank you for your help!

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Comments

Hi, has nobody an idea? I could try to add more information about my Problem, if anyone would like to have more! I'm still stuck at this point. Thank's for your hep!

lorenznew gravatar imagelorenznew ( 2018-08-27 03:48:47 -0600 )edit