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move_base not executing, robot does not receive the goal

asked 2018-09-06 02:57:18 -0500

updated 2018-09-06 04:57:31 -0500


I am doing SLAM using HUSKY A200, (ros1 kinetic on both end - robot and remote pc). I am using hector mapping for my mapping. I want to do SLAM without saving the map, just by using the 2D Nav goal in the rviz. I am using husky's move_base for that purpose. I am using a pepperl_fuchs_r2000 laser scanner.

My ROS master is set to in my remote pc .bashrc as:

export ROS_MASTER_URI=http://cpr-a200-0468:11311

Network config: Husky: ROS_IP: ROS_HOSTNAME:cpr-a200-0468

Remote PC: ROS_IP: HOSTNAME: rosi

SETUP: All my husky bringup scripts (navsat.launch, um7.launch, base.launch are added as robot_upstart script. Only r2000(laser), hector_mapping, move_base is launched from my remote pc. I can rostopic echo /tf from my remote pc on husky boot up.

I had some issues with the tf frames and time mismatch between the system.

TF_OLD_DATA ignoring data from the past for frame base_link

I solved those using other ros posts, also used chrony for syncing the husky time with my remote pc time. Now I can get the scanned map but when I send the nav goal it does not execute.

I did publish my messages from rviz and tried listening over on husky end:

rostopic echo /move_base_simple/goal

but no message appears on the husky terminal (sshed over wifi). Just to make sure I send some cmd_velocity across the system from the terminal:


rostopic pub /cmd_vel geometry_msgs/Twist "linea::
  x: 0.1
  y: 0.0
  z: 0.0
  x: 0.0
  y: 0.0
  z: 0.0" 
publishing and latching message. Press ctrl-C to terminate

remote pc:

rostopic echo /cmd_vel

But I hear nothing but the robot moves. Vice versa:

remote pc: published

husky listening: nothing received

robot does not move.

The launch file launching the laser, hector_mapping and move_base is as follows:

<?xml version="1.0"?>
  <arg name="frame_id" default="base_laser"/>
  <arg name="scanner_ip" default=""/>
  <arg name="scan_frequency" default="35"/>
  <arg name="samples_per_scan" default="3600"/>

  <!-- R2000 Driver -->
  <node pkg="pepperl_fuchs_r2000" type="r2000_node" name="r2000_node" respawn="true" output="screen">
    <param name="frame_id" value="$(arg frame_id)"/>
    <param name="scanner_ip" value="$(arg scanner_ip)"/>
    <param name="scan_frequency" value="$(arg scan_frequency)"/>
    <param name="samples_per_scan" value="$(arg samples_per_scan)"/>


<node pkg="tf" type="static_transform_publisher" name="map_odom_broadcaster" args="0 0 0 0 0 0 map odom 100" />
<node pkg="tf" type="static_transform_publisher" name="odom_baselink_broadcaster" args="0 0 0 0 0 0 odom base_link  100" />
 <!--- Run gmapping 
 <include file="$(find husky_navigation)/launch/gmapping.launch" />-->
<!-- <node pkg="tf" type="static_transform_publisher" name="robot_state" args="0.35 0 0.15 0 0 0 base_link base_laser  10" /> -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find husky_description)/urdf/husky.urdf.xacro'" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

<!--- Run Hector_mapping -->
<include file="$(find hector_mapping)/launch/mapping_default.launch" />
 <!--- Run Move Base -->
  <include file="$(find husky_navigation)/launch/move_base.launch" />

<!-- RVIZ -->

<node pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find pepperl_fuchs_r2000)/rviz/rviz ...
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Have you correctly set the variable $ROS_MASTER_URI ?

Delb gravatar image Delb  ( 2018-09-06 03:16:06 -0500 )edit

Yes, I have the all the topics and laser scan and map coming streaming correctly. Additionally, both hosts are setup at the /etc/hosts communication is setup well i think.

arunavanag gravatar image arunavanag  ( 2018-09-06 03:16:59 -0500 )edit

Is the issue only with the /cmd_vel topic ? Can you also edit your question to add the launch file of the remote PC and the one of the robot ?

Delb gravatar image Delb  ( 2018-09-06 03:22:41 -0500 )edit

Added. Nope it is also the issue with the nav goals... When I send this over rviz: Setting goal: Frame:base_link, Position(0.355, -0.558, 0.000), Orientation(0.000, 0.000, -0.679, 0.734) = Angle: -1.492

I hear nothing on rostopic echo /move_base_simple/goal at the husky end.

arunavanag gravatar image arunavanag  ( 2018-09-06 03:28:37 -0500 )edit

However I can echo /tf and listen it in my remote pc broadcasted from the husky.

arunavanag gravatar image arunavanag  ( 2018-09-06 03:30:45 -0500 )edit

Can you provide the rqt_graph too please ? It's normal that you can echo the tf because they are created from your remote PC, what nodes are you launching from the husky ?

Delb gravatar image Delb  ( 2018-09-06 03:49:01 -0500 )edit

I am assuming that you are echoing before you publish from your pc?

Choco93 gravatar image Choco93  ( 2018-09-06 03:51:57 -0500 )edit

Just making sure: can the Husky receive any messages from the PC?

If not: check ROS_IP and ROS_HOSTNAME settings and/or get a working DNS setup.

gvdhoorn gravatar image gvdhoorn  ( 2018-09-06 03:59:03 -0500 )edit

1 Answer

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answered 2018-09-06 21:28:17 -0500

As suggested by @gvdhoorn I checked the ROS_IP and ROS_HOSTNAME on my husky. I realized my husky could not listen from the remote pc but only husky to remote pc communication was working.

I have set IP of the remote PC in my husky. The alternatives are (quoted):

If you set both ROS_HOSTNAME and ROS_IP, ROS_HOSTNAME will take precedence. Setup a DNS, or use avahi

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Asked: 2018-09-06 02:57:18 -0500

Seen: 885 times

Last updated: Sep 06 '18