move_base.xml requires the local planner arg to be set

asked 2019-06-19 16:12:17 -0600

bedevere45 gravatar image

I'm trying the mir100 mobile manipulator simulation using this package:

https://github.com/dfki-ric/mir_robot

The issue occurs when I type the following commands to simulate the mapping of an unknown space in gazebo:

### gazebo:
roslaunch mir_gazebo mir_maze_world.launch
rosservice call /gazebo/unpause_physics   # or click the "start" button in the Gazebo GUI

### mapping:
roslaunch mir_navigation hector_mapping.launch.xml

So far so good, this is where it goes wrong:

# navigation:
roslaunch mir_navigation move_base.xml with_virtual_walls:=false

I get the following error:

RLException: [/home/beau/catkin_ws/src/mir_robot/mir_navigation/launch/move_base.xml] requires the 'local_planner' arg to be set

This is what the file mentioned in the error contains:

  1 <launch>
  2     <!--node ns="local_costmap" name="voxel_grid_throttle" pkg="topic_tools" type="throttle" args="messages voxel_grid 3.0 voxel_grid_throttled" /-->
  3     <arg name="local_planner" doc="dwa"/>
  4     <arg name="with_virtual_walls" default="true" doc="Enables usage of virtual walls when set. Set to false when running SLAM." />
  5     <arg name="prefix" default="" doc="Prefix used for robot tf frames" /> <!-- used in the config files -->
  6 
  7     <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen" clear_params="true">
  8         <param name="SBPLLatticePlanner/primitive_filename" value="$(find mir_navigation)/mprim/unicycle_highcost_5cm.mprim" />
  9         <rosparam file="$(find mir_navigation)/config/move_base_common_params.yaml" command="load" />
 10         <rosparam file="$(find mir_navigation)/config/sbpl_global_params.yaml" command="load" />
 11         <rosparam file="$(find mir_navigation)/config/$(arg local_planner)_local_planner_params.yaml" command="load" />
 12         <!-- global costmap params -->
 13         <rosparam file="$(find mir_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" subst_value="true" />
 14         <rosparam file="$(find mir_navigation)/config/costmap_global_params.yaml" command="load" />
 15         <rosparam file="$(find mir_navigation)/config/costmap_global_params_plugins_virtual_walls.yaml" command="load" if="$(arg with_virtual_walls)" />
 16         <rosparam file="$(find mir_navigation)/config/costmap_global_params_plugins_no_virtual_walls.yaml" command="load" unless="$(arg with_virtual_walls)" />
 17         <!-- local costmap params -->
 18         <rosparam file="$(find mir_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" subst_value="true" />
 19         <rosparam file="$(find mir_navigation)/config/costmap_local_params.yaml" command="load" subst_value="true" />
 20         <rosparam file="$(find mir_navigation)/config/costmap_local_params_plugins_virtual_walls.yaml" command="load" if="$(arg with_virtual_walls)" />
 21         <rosparam file="$(find mir_navigation)/config/costmap_local_params_plugins_no_virtual_walls.yaml" command="load" unless="$(arg with_virtual_walls)" />
 22         <remap from="map" to="/map" />
 23         <remap from="odom" to="odom_comb" />
 24         <remap from="marker" to="move_base_node/DWBLocalPlanner/markers" />
 25     </node>
 26 </launch>

So I thoughts there must be something wrong with line 11:

$(arg local_planner)_local_planner_params.yaml

So I went to look in the yaml files: https://github.com/dfki-ric/mir_robot/tree/melodic/mir_navigation/config

The one named: mir_local_planner_params.yaml contains a line:

  dwa: true

Should I set the argument manually somewhere?

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