Navigation issue
Hello,
I can't figure out why my real robot does not stop when it arrives close to its goal. that is my configurations:
I have kinetic distro, ubuntu 16.04 real_sense d435 to make Laserscan topic, encoders for the odometry.
main launch file:
<?xml version="1.0"?>
<launch>
<arg name="move_base" default="true" />
<!--load platform 3d model-->
<!--<include file="$(find arl_description)/launch/newurdf.launch" />-->
<!-- bringup realsense camera -->
<group ns="camera">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml"/>
</group>
<!--camera tf-->
<node pkg="tf" type="static_transform_publisher" name="camera_link_arl" args="0.15 0 0.2 0 0 0 base_link camera_link 30" />
<!-- Laser topic -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
<remap from="image" to="/camera/depth/image_rect_raw"/>
<remap from="camera_info" to="/camera/depth/camera_info"/>
</node>
<!-- encoders odometry -->
<include file="$(find arl_description)/launch/physical_odometry.launch" />
<!--load rtabmap mapping-->
<include file="$(find arl_description)/launch/rtabmap_realsense.launch" >
<arg name="localization" default="true"/>
<arg name="mapping" value="false" />
<arg name="rtabmapviz" default="false" />
<arg name="rviz" default="true" />
<arg name="frame_id" value="base_link" /> <!--kkk-->
<arg name="rgb_topic" default="/camera/color/image_raw" />
<arg name="depth_topic" default="/camera/aligned_depth_to_color/image_raw" /><!--was aligned-->
<arg name="camera_info_topic" default="/camera/color/camera_info" />
</include>
<!-- ROS navigation stack move_base -->
<node if="$(arg move_base)" pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<rosparam file="$(find arl_description)/launch/nav_data/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find arl_description)/launch/nav_data/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find arl_description)/launch/nav_data/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find arl_description)/launch/nav_data/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find arl_description)/launch/nav_data/base_local_planner_params.yaml" command="load" />
<param name="recovery_behavior_enabled" value="true" />
<remap from="cmd_vel" to="cmd_vel"/>
<remap from="odom" to="odom"/>
<!--<remap from="move_base_simple/goal" to="rtabmap/goal"/>-->
<remap from="scan" to="scan"/>
<remap from="map" to="/grid_map"/>
</node>
<arg name="rviz_cfg" default="$(find arl_description)/launch/realsenseARL.rviz" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>-->
</launch>
my rtabmap launch file(it is the main things):
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg delete_db)">
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<!--<param name="subscribe_scan_cloud" type="bool" value="true"/>-->
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<!-- <param name="publish_tf" type="bool" value="$(arg publish_map_tf)" /> -->
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="odom" to="/odom"/><!-- to get the odometry from the encoders and not from the kinect-->
<remap from="scan" to="/scan"/>
<remap from="scan_map" to="cloud_map"/>
<!--<remap from="grid_map" to="/map"/>-->
<param name="approx_sync" type="bool" value="true"/>
<!-- <param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/> -->
<!-- RTAB-Map's parameters -->
<param name="RGBD/AngularUpdate ...
Use rqt_reconfigure to see parameters actually used by move_base. You can also change them live to debug. I think
min_vel_theta
should be negative (turning left). See also http://wiki.ros.org/navigation/Tutori... .