laserscan move with robot in RViz

asked 2019-07-16 14:02:10 -0500

Youssef_Lah gravatar image

updated 2019-07-16 15:15:57 -0500

Hi ROS community, My problem is that when i move the robot in the simulation to create a map, the laserscan signals moves also with the robot in RViz, which prevents me to create the map properly. Please help.

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Comments

We will need more information in this case to narrow down the problem. Please show your navigation configuration (costmap params files.).
Especially check you costmap_common_params file and see which frame have you passed to your observation source (laser_scan_sensor) and which are your global and robot_base frames.

pavel92 gravatar imagepavel92 ( 2019-07-17 02:17:39 -0500 )edit

I am using libgazebo_ros_control.so plugin to control my robot, you can check the images in the links bellow to understand exactly what i am talking about. https://ibb.co/k5THXCK (This is the initial state) https://ibb.co/tLCwpGf (here you can see when the robot moves, the signals moves also, but in gazebo they are fixed)

note that the problem is not occuring when I use the plugin libgazebo_ros_diff_drive.so to control the robot,

Youssef_Lah gravatar imageYoussef_Lah ( 2019-07-17 06:32:38 -0500 )edit

Yes I understand that. We will need to see your navigation configuration files in order to debug the problem

pavel92 gravatar imagepavel92 ( 2019-07-17 09:41:45 -0500 )edit

Hi Pavel92, this is my costmap_common_params file:

obstacle_range: 8.0

raytrace_range: 10

footprint: [[-0.7874, -0.381], [-0.7874, 0.381], [0.8636, 0.381], [0.8636, -0.381]]

inflation_radius: 0.2

cost_scaling_factor: 0.5

map_type: costmap

transform_tolerance: 0.2

observation_sources: scan

scan: {data_type: LaserScan, topic: scan_multi, marking: true, clearing: true}

Youssef_Lah gravatar imageYoussef_Lah ( 2019-07-18 09:17:22 -0500 )edit

What do you think pavel ?

Youssef_Lah gravatar imageYoussef_Lah ( 2019-07-24 11:12:42 -0500 )edit