move_base request failed

asked 2019-07-04 09:47:57 -0500

When running move base with the navigation stack I get the following warning:

[ WARN] [1562249513.118359067]: Request for map failed; trying again...

After that nothing happens anymore. The Logfiles show that all the nodes (amcl, map_server) started correctly and that the map_server was able to find the map. My launch file looks as following:

<launch>

   <master auto="start"/>
 <!-- Run the map server -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(find lidarborg2dnav)/maps/expLab18_servermap.pgm 0.05"/>

 <!--- Run AMCL -->
    <include file="$(find amcl)/examples/amcl_diff.launch" />

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find lidarborg2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find lidarborg2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find lidarborg2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find lidarborg2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find lidarborg2dnav)/base_local_planner_params.yaml" command="load" />
 </node>

</launch>

I can't upload the rqt_graph file because I do not have enough points. It shows the map_server has started but has no subscriptions and is not publishing anything. What should the map_server provide? How can I view the map in rviz? I read and did the tutorial for the navigation stack.

Specs of the robot:

  • ROS Kinetic on Lubuntu 16.04 on Raspberry Pi
  • LiDAR Sensor Sick TIM
  • Differential drive with 6 motors (no encoders!)
  • Thunderborg motor controller

Any help would be appreciated, I can't figure out what I'm doing wrong. Thanks!

edit retag flag offensive close merge delete