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yocs_velocity_smoother is not publishing any velocity command

asked 2019-01-07 15:07:23 -0600

fruitlqs gravatar image

I want to use the yocs_velocity_smoother node to smooth the velocity command published from move_base node. I remapped topic cmd_vel to raw_cmd_vel for the move_base node, and remapped smooth_cmd_vel to cmd_vel for the yocs_velocity_smoother node. However, all velocity command on cmd_vel topic is zero.

How can I get the velocity smoother working properly?

My move_base node launch code:

<arg name="odom_topic" default="odom"/>
<node name="move_base" pkg="move_base" type="move_base" output="screen">
    <rosparam file="$(find x80sv_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find x80sv_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find x80sv_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find x80sv_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find x80sv_navigation)/param/base_local_planner_params.yaml" command="load" />
    <remap from="cmd_vel" to="raw_cmd_vel"/>
    <remap from="odom" to="$(arg odom_topic)"/>
</node>
<include file="$(find x80sv_navigation)/launch/velocity_smoother.launch"/>

My velocity_smoother launch file:

<launch>
  <arg name="node_name"             default="velocity_smoother"/>
  <arg name="nodelet_manager_name"  default="nodelet_manager"/>
  <arg name="config_file"           default="$(find x80sv_navigation)/param/smoother.yaml"/>
  <arg name="raw_cmd_vel_topic"     default="raw_cmd_vel"/>
  <arg name="smooth_cmd_vel_topic"  default="cmd_vel"/>
  <arg name="robot_cmd_vel_topic"   default="cmd_vel"/>
  <arg name="odom_topic"            default="odom"/>

  <node pkg="nodelet" type="nodelet" name="$(arg node_name)"
        args="load yocs_velocity_smoother/VelocitySmootherNodelet $(arg nodelet_manager_name)">

    <!-- parameters -->
    <rosparam file="$(arg config_file)" command="load"/>

    <!-- velocity commands I/O -->
    <remap from="$(arg node_name)/raw_cmd_vel"    to="$(arg raw_cmd_vel_topic)"/>
    <remap from="$(arg node_name)/smooth_cmd_vel" to="$(arg smooth_cmd_vel_topic)"/>

    <!-- Robot velocity feedbacks -->
    <remap from="$(arg node_name)/robot_cmd_vel"  to="$(arg robot_cmd_vel_topic)"/>
    <remap from="$(arg node_name)/odometry"       to="$(arg odom_topic)"/>
  </node>
</launch>

Thank you so much!!!

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Comments

I have the same problem. When I look at rqt_graph I see the velocity smoother node is disconnected ( not properly linking to raw_cmd_vel or cmd_vel). I can’t figure out the problem.

Poorboy44 gravatar imagePoorboy44 ( 2019-01-12 00:12:46 -0600 )edit

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answered 2019-10-22 07:53:19 -0600

yeecy gravatar image

I think you may need to load nodelet manager before launching yocs_velocity_smoother.

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Asked: 2019-01-07 15:07:23 -0600

Seen: 58 times

Last updated: Jan 07