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cartographer + move_base

asked 2019-07-18 08:57:26 -0500

Tansor gravatar image

updated 2019-07-18 19:34:15 -0500

Cartographer and move_base can not run at the same time, move_base subscribes to the /map topic published by cartographer for navigation, without passing through map_server. I tried to do this, but the time interval between the two frames of the /cmd_val topic published by move_base reached more than 20 seconds.

[ INFO] [1563279138.784172362]: Resizing costmap to 650 X 680 at 0.050000 m/pix
[ INFO] [1563279138.795393838]: Resizing static layer to 650 X 680 at 0.050000 m/pix
[ WARN] [1563279156.227073295]: Control loop missed its desired rate of 10.0000Hz... the loop actually took18.7780 seconds
[ WARN] [1563279156.227821820]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 25.4829 seconds.
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answered 2019-07-18 14:59:58 -0500

You do not need map server when you're running SLAM. Map server is just to expose the /map topic of a previous mapping session stored as an image file.

If you have another source of /map, that is unnecessary.

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Thanks for your answer!I still have a question, why does the Control loop take so much time?

Tansor gravatar image Tansor  ( 2019-07-18 20:20:28 -0500 )edit

You should ask in another question to not mix things. If I answered your question mark as correct so it's off the unanswered questions queue.

stevemacenski gravatar image stevemacenski  ( 2019-07-18 21:52:45 -0500 )edit

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Asked: 2019-07-18 08:57:26 -0500

Seen: 621 times

Last updated: Jul 18 '19