cmd_vel is published but robot is not moving after giving the goal position.

asked 2018-12-20 05:05:59 -0600

martin6656 gravatar image

updated 2018-12-20 05:40:08 -0600

gvdhoorn gravatar image

Everything is working fine, but the robot is not moving. Even when I use teleportation to control it is also not working. I got this after running move base command

NODES
  /
    move_base (move_base/move_base)

ROS_MASTER_URI=http://localhost:11311

process[move_base-1]: started with pid [28224]
[ WARN] [1545303469.955427106, 1149.825000000]: Timed out waiting for transform from odom to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame odom does not exist.. canTransform returned after 1149.83 timeout was 0.1.
[ INFO] [1545303469.990131640, 1149.859000000]: Using plugin "static_layer"
[ INFO] [1545303469.998307483, 1149.867000000]: Requesting the map...
[ INFO] [1545303470.205332254, 1150.072000000]: Resizing costmap to 416 X 192 at 0.050000 m/pix
[ INFO] [1545303470.305643198, 1150.171000000]: Received a 416 X 192 map at 0.050000 m/pix
[ INFO] [1545303470.311369260, 1150.176000000]: Using plugin "obstacle_layer"
[ INFO] [1545303470.314155950, 1150.179000000]:     Subscribed to Topics: scan
[ INFO] [1545303470.341124836, 1150.206000000]: Using plugin "inflation_layer"
[ INFO] [1545303470.411881941, 1150.275000000]: Using plugin "obstacle_layer"
[ INFO] [1545303470.414188596, 1150.278000000]:     Subscribed to Topics: scan
[ INFO] [1545303470.439318102, 1150.300000000]: Using plugin "inflation_layer"
[ INFO] [1545303470.496783249, 1150.357000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1545303470.511101433, 1150.370000000]: Sim period is set to 0.05
[ WARN] [1545303470.524212047, 1150.383000000]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1545303471.509039101, 1151.356000000]: Recovery behavior will clear layer obstacles
[ INFO] [1545303471.514283272, 1151.361000000]: Recovery behavior will clear layer obstacles
[ INFO] [1545303471.560497836, 1151.407000000]: odom received!
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Comments

If you list your topics everythings there? Did you try to manually move the robot, for example with rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}' ?

Karax31 gravatar image Karax31  ( 2018-12-20 07:07:26 -0600 )edit

What exactly the move base command did you run?

tungngo gravatar image tungngo  ( 2018-12-20 08:59:50 -0600 )edit

I can't able to move my robot using this command as well rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}' but it publish information.

martin6656 gravatar image martin6656  ( 2018-12-20 09:08:59 -0600 )edit

Are you running your robot in simulation or is the issue on your real robot? I had the same problem, turned out to be caused by wrong robot model collision geometry & mass values. Those errors were related to copy/paste operations. I edited the visual properties but forgot to edit the other values.

Roberto Z. gravatar image Roberto Z.  ( 2019-01-23 03:38:32 -0600 )edit