move base conflicts with parent parameter

asked 2019-07-30 22:26:53 -0500

cyysu
1 ●1 ●1 ●1

HI,everyone! I've gotten the error when i start up move_base node.The following is the error message

lyx@lyx:~$ roslaunch car_simulation display.launch

... logging to /home/lyx/.ros/log/63f20d76-b341-11e9-92bb-000c299af562/roslaunch-lyx-34874.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://lyx:38789/

SUMMARY

PARAMETERS * /move_base/DWAPlannerROS/acc_lim_th: 3.2 * /move_base/DWAPlannerROS/acc_lim_x: 2.5 * /move_base/DWAPlannerROS/acc_lim_y: 2.5 * /move_base/DWAPlannerROS/holonomic_robot: True * /move_base/DWAPlannerROS/latch_xy_goal_tolerance: False * /move_base/DWAPlannerROS/max_rotational_vel: 0.15 * /move_base/DWAPlannerROS/max_vel_theta: 0.15 * /move_base/DWAPlannerROS/max_vel_x: 0.5 * /move_base/DWAPlannerROS/min_in_place_rotational_vel: 0.01 * /move_base/DWAPlannerROS/min_in_place_vel_theta: 0.01 * /move_base/DWAPlannerROS/min_vel_theta: -0.15 * /move_base/DWAPlannerROS/min_vel_x: 0.0 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.3 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.2 * /move_base/GlobalPlanner/allow_unknown: False * /move_base/GlobalPlanner/cost_factor: 3.0 * /move_base/GlobalPlanner/default_tolerance: 0.2 * /move_base/GlobalPlanner/lethal_cost: 253 * /move_base/GlobalPlanner/neutral_cost: 50 * /move_base/GlobalPlanner/old_navfn_behavior: False * /move_base/GlobalPlanner/orientation_mode: 0 * /move_base/GlobalPlanner/orientation_window_size: 1 * /move_base/GlobalPlanner/publish_potential: True * /move_base/GlobalPlanner/use_dijkstra: True * /move_base/GlobalPlanner/use_grid_path: False * /move_base/GlobalPlanner/use_quadratic: True * /move_base/GlobalPlanner/visualize_potential: False * /move_base/base_global_planner: global_planner/Gl... * /move_base/base_local_planner: dwa_local_planner... * /move_base/controller_frequency: 5 * /move_base/controller_patience: 3.0 * /move_base/controller_patiente: 15.0 * /move_base/global_costmap/global_frame: /map * /move_base/global_costmap/inflation_radius: 0.1 * /move_base/global_costmap/meter_scoring: True * /move_base/global_costmap/plugins: [{'type': 'costma... * /move_base/global_costmap/robot_base_frame: /base_link * /move_base/global_costmap/rolling_window: False * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 1.0 * /move_base/global_costmap/update_frequency: 5.0 * /move_base/global_costmap: obstacle_range:2.... * /move_base/local_costmap/global_frame: /odom * /move_base/local_costmap/height: 4.0 * /move_base/local_costmap/planner_frequency: 1.0 * /move_base/local_costmap/planner_patiente: 5.0 * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 3.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: /base_link * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_map: False * /move_base/local_costmap/tranform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 4.0 * /move_base/local_costmap: obstacle_range:2.... * /move_base/oscillation_distance: 0.3 * /move_base/oscillation_timeout: 8.0 * /move_base/planner_frequency: 1.0 * /move_base/planner_patience: 5.0 * /move_base/shutdown_costmaps: False * /robot_description:

NODES / joint_state_publisher (joint_state_publisher/joint_state_publisher) kinematicAndUpdate (car_simulation/kinematicAndUpdate) map_server (map_server/map_server) move_base (move_base/move_base) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz)

WARNING: parameter [/move_base/local_costmap/robot_base_frame] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/tranform_tolerance] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/global_frame] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/height] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/rolling_window] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/width] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/static_map] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/update_frequency] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/planner_frequency] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/plugins] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/publish_frequency] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/resolution] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/local_costmap/planner_patiente] conflicts with parent parameter [/move_base/local_costmap] WARNING: parameter [/move_base/global_costmap ... (more)

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answered 2020-09-17 05:11:02 -0500

tahsinkose
46 ●2 ●6 ●6

This happens when an ill-structured config exists in one of the yaml files such as:

move_base:
       local_costmap:
       <something else>:

Find and remove that.

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Comments

I have a similar problem. Can you help me, please? Here my config file:

global_costmap:
  map_type: costmap
  global_frame: odom
  robot_base_frame: base_footprint
  rolling_window: true
  track_unknown_space: true
  update_frequency : 10.0
  publish_frequency: 1.0
  transform_tolerance: 0.2
  unknown_cost_value : 255
  robot_radius: 0.35

  #plugins in a separate file

  obstacle_laser:
    enabled: true
    observation_sources: base_scan
    combination_method: 0 
    base_scan:
      sensor_frame: base_laser_link
      data_type: LaserScan
      topic: scan
      expected_update_rate: 0.3
      observation_persistence: 1.0
      inf_is_valid: true
      marking: true
      clearing: true
      raytrace_range: 4
      obstacle_range: 3.0
  inflation:
    enabled: true
    inflation_radius: 0.55
   cost_scaling_factor: 25.0

bach ( 2021-06-04 05:16:53 -0500 )edit

The cost_scaling_factor at the very end doesn't match any indentation level.

tahsinkose ( 2022-02-18 14:36:22 -0500 )edit

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move base conflicts with parent parameter