[SOLVED]Orientation_mode issue
Hello,
I'm using ROS-indigo on a VM that run Ubuntu-14.04.5. I want to store on a file the informations of "/move_base/NavfnROS/plan" (in particular I need the position and orientation), to do so I first run this launch file:
<launch>
<!-- Transformations /-->
<node pkg="tf" type="static_transform_publisher" name="static_transform" args="8.5 21.5 0 1.57079633 0 0 map base_link 100"/>
<!-- static Map /-->
<node pkg="map_server" type="map_server" name="static_map" args="/home/rob/catkin_ws/src/map_server/maps/testmap1.yaml" />
<!-- move_base + costmap parameters /-->
<node pkg="move_base" type="move_base" name="move_base" output="screen" >
<rosparam file="/home/rob/catkin_ws/src/move_base1/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="/home/rob/catkin_ws/src/move_base1/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="/home/rob/catkin_ws/src/move_base1/move_base_config/global_costmap_params.yaml" command="load" />
<rosparam file="/home/rob/catkin_ws/src/move_base1/move_base_config/local_costmap_params.yaml" command="load" />
</node>
</launch>
after that I run rviz and use the "2D Nav Goal" button to set a goal in my static_map and let global_planner to generate a path_plan. I finally use rostopic echo /move_base/NavfnROS/plan >> "filel.txt"
in the terminal to store the information that I need.
When I read the stored information in "file.txt" I correctly obtain the positions, but the orientation shows always x:0 y:0 z:0 w:1
though i set the "orientation_mode" parameter equal to 1 (FORWARD) in the "costmap_common_params.yaml".
Could anyone tell me what I'm doing wrong? (And yes, I already build the workspace with catkin_make).
The reference link where i read about the "orientarion filter" http://wiki.ros.org/global_planner
Thank you for your help.