move_base request failed
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!
Hi. Did you resolve this issue? Cause I have a similar problem. Is move_base publishing to any other topics? Like move_base/local_costmap and move_base/global_costmap, etc... If you want to view the map in rviz, go to Display and add Map. That should display the map in rviz. Map_server actually provides the map to move_base. If you see your rqt_graph, that connection should be there. Did you get it working? Cause some time has passed since you've posted this question.
Hi, thanks for answering! I'm sorry but it has been a long time and in the end I did not use move_base at all. The requirements of the robot changed and I never got around to resolve the warning.
Ohh okay okay. Thanks anyway!