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cartographer + move_base

kinetic

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

Tansor
40 ●4 ●5 ●9

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

stevemacenski

8272 ●34 ●503 ●129 https://www.linkedin.c...

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.