Trouble moving rover from rtabmapviz

asked 2019-03-11 06:42:58 -0500

Drkstr gravatar image

updated 2019-03-12 04:51:41 -0500

I have recorded and localized my rover on a map generated on RTAB-Map. image description

When I send a goal, I can see it calculating the route. image description

But the rover doesn't move. :(

I have remapped grid_map to map.

<remap from="grid_map" to="/map"/>

The /cmd_vel topic is empty.

I am using the following parameters to launch move_base

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" outpu$
      <param name="base_global_planner" value="navfn/NavfnROS"/>
      <param name="base_local_planner" value="addwa_local_planner/ADDWAPlannerROS$
      <rosparam file="$(find nav_test)/config/fake/costmap_common_params.yaml" co$
      <rosparam file="$(find nav_test)/config/fake/costmap_common_params.yaml" co$
      <rosparam file="$(find nav_test)/config/fake/local_costmap_params.yaml" com$
      <rosparam file="$(find nav_test)/config/fake/global_costmap_params.yaml" co$
      <rosparam file="$(find nav_test)/config/fake/base_local_planner_params2.yam$

move_base seems to launch fine, but when rtab_map localizes and publishes the map, I get the following warning: (I get this warning before I send a goal)

[ WARN] [1552382399.156435540]: MSG to TF: Quaternion Not Properly Normalized

I have tried resetting the odometry in rtabmapviz (Detection->"Reset odometry") as suggested in here

How would I go about debugging this?

Please note that I am new to ROS, so it is entirely possible that I have missed a step somewhere.

Let me know if you need any info about my setup.

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Are you using the ROS navigation stack or something similar? What nodes are running when you try this? For example, generate with 'rostopic list' in a new window and see if you have the move_base nodes running.

agillin gravatar image agillin  ( 2019-03-11 15:54:53 -0500 )edit

Turns out, I didn't have move_base running. I launched move_base and I still can't get the rover to move. :( I have updated the question with my move_base launch parameters.

Drkstr gravatar image Drkstr  ( 2019-03-12 04:51:37 -0500 )edit

I suggest first to bypass rtabmap planning and send goal directly to /move_base_simple/goal to debug that part and make the robot move. Afterwards, you may look into rtabmap planning.

matlabbe gravatar image matlabbe  ( 2019-03-15 19:10:20 -0500 )edit