Can't see some topics for planning and navigation
Hi, I'm running ROS Melodic on Ubuntu 18.04. I'm following this tutorial to perform slam and navigation on my own robot: http://emanual.robotis.com/docs/en/pl...
I can create a good map using gmapping, but after that I can't navigate.
This is my launch file for navigation:
<!--Start base control of robot and rviz-->
<include file="$(find robot)/launch/start_robot_pc.launch">
<arg name="fixed_frame" value="map"/>
</include>
<!--Start kinect and fake scan-->
<include file="$(find robot)/launch/kinect.launch"/>
<!-- Load map previously created -->
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
<!-- AMCL -->
<include file="$(find robot)/launch/includes/amcl.launch.xml"/>
<!-- move_base -->
<include file="$(find robot)/launch/includes/move_base.launch.xml">
<!--param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /-->
</include>
This is my move_base launch:
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
<rosparam file="$(find robot)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find robot)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find robot)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find robot)/param/global_costmap_params.yaml" command="load" />
<!--rosparam file="$(find robot)/param/base_local_planner_params.yaml" command="load" /-->
<rosparam file="$(find robot)/param/dwa_local_planner_params.yaml" command="load" />
<rosparam file="$(find robot)/param/move_base_params.yaml" command="load" />
<remap from="cmd_vel" to="/cmd_vel"/>
<remap from="odom" to="odom"/>
</node>
</launch>
I can estimate 2D pose of robot but when I use "2D Nav Goal" arrow, nothing happens.
I run rostopic list and I get only this topics starting with /move_base:
/move_base/current_goal
/move_base/goal
/move_base_simple/goal
I checked tutorial's topics and I saw this:
/move_base/DWAPlannerROS/global_plan
/move_base/DWAPlannerROS/local_plan
/move_base/NavfnROS/plan
/move_base/current_goal
/move_base/global_costmap/costmap
/move_base/global_costmap/costmap_updates
/move_base/goal
/move_base/local_costmap/costmap
/move_base/local_costmap/costmap_updates
/move_base/local_costmap/footprint
/move_base_simple/goal
Why I can't see the same topics?
UPDATE: I have disassembled the tutorial's code and I discover that I saw those topics because rviz was subscribed, but no node was the publisher. So, why the navigation doesn't work for me?
Do you get any warnings/errors when you launch your navigation launch file? If so, can you please share the terminal output? Otherwise it is hard to debug from this point where the problem might be. My initial lucky guess would be that you are missing a transform from base_link to map which does not allow costmap initialization.
This is the warning I get:
If I don't set "map" as fixed frame, the majority part of rviz's visualizzations don't work.
But I can't see neither
DWAPlannerROS and NavfnROS.