ROS navigation with Asus xtion pro live (no transform from error)

asked 2018-12-27 23:31:47 -0500

zinuok gravatar image

updated 2018-12-28 03:25:01 -0500

gvdhoorn gravatar image

Ubuntu : 14.04 LTS Trusty tahr (on desktop PC, laptop) ROS : Indigo Robot : Turtlebot

Hello, I'm doing an navigation with asus xtion pro live on turtlebot. I successfully made a map (SLAM), but I have a problem when I do navigation using the map. At, /home/catkin_ws/src folder, I downloaded packages for SLAM, Navigation from here: and because this packages stand for LRF (not xtion), so I fix some codes. here are my fixed codes:

kobuki_navigation.launch

<launch>

  <!-- kobuki model -->
  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find kobuki_description)/urdf/kobuki_standalone.urdf.xacro'" />
  <param name="robot_description" command="$(arg urdf_file)" />

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="5.0" />
  </node>

  <!-- kobuki control option 
  <include file="$(find kobuki_navigation)/launch/velocity_smoother.launch.xml"/>
  <include file="$(find kobuki_navigation)/launch/safety_controller.launch.xml"/> 
  -->

  <!-- sensor -->
  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="kobuki_d2l_node" output="screen">
  <remap from="output_frame_id" to="/base_scan"/>
  <remap from="image" to="/camera/depth/image_raw" />
  </node>

  <!-- tf -->
  <node pkg="kobuki_tf" type="kobuki_tf" name="kobuki_tf" output="screen">
  </node>

  <!-- Map server -->
  <arg name="map_file" default="$(find kobuki_navigation)/maps/map.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
  </node>

  <!-- AMCL -->
  <include file="$(find kobuki_navigation)/launch/amcl.launch.xml"/>

  <!-- move_base -->  
  <arg name="cmd_vel_topic" default="/mobile_base/commands/velocity" />
  <arg name="odom_topic" default="odom" />
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find kobuki_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find kobuki_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find kobuki_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find kobuki_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find kobuki_navigation)/param/dwa_local_planner_params.yaml" command="load" />
    <rosparam file="$(find kobuki_navigation)/param/move_base_params.yaml" command="load" />
    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
  </node>
</launch>

kobuki_navigation_base.launch

<launch>

  <!-- kobuki model -->
  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find kobuki_description)/urdf/kobuki_standalone.urdf.xacro'" />
  <param name="robot_description" command="$(arg urdf_file)" />

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="5.0" />
  </node>

  <!-- kobuki control option 
  <include file="$(find kobuki_navigation)/launch/velocity_smoother.launch.xml"/>
  <include file="$(find kobuki_navigation)/launch/safety_controller.launch.xml"/> 
  -->

  <!-- sensor -->
  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="kobuki_d2l_node" output="screen">
  <remap from="output_frame_id" to="/base_scan"/>
  <remap from="image" to="/camera/depth/image_raw" />
  </node>

  <!-- tf -->
  <node pkg="kobuki_tf" type="kobuki_tf" name="kobuki_tf" output="screen">
  </node>

  <!-- Map server -->
  <arg name="map_file" default="$(find kobuki_navigation)/maps/map.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
  </node>

  <!-- AMCL -->
  <include file="$(find kobuki_navigation)/launch/amcl.launch.xml"/>

  <!-- move_base -->  
  <arg name="cmd_vel_topic" default="/mobile_base/commands/velocity" />
  <arg name="odom_topic" default="odom" />
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find kobuki_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find kobuki_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find kobuki_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find kobuki_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find kobuki_navigation)/param/base_local_planner_params.yaml" command="load ...
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