rviz doesn't appear local_plan

asked 2019-11-10 02:14:04 -0600

Crowdeal gravatar image

updated 2019-11-11 06:19:22 -0600

Hello

I am a new to ros

Sorry for my bad english

I followed navigation_tutorial and it seems to work

but when i open rviz

I don't see local plan path in it

https://imgur.com/KTEUjSx

rqt_graph:

https://imgur.com/BFgH1wN

when I rostopic echo /move_base/local_costmap

it doesn't appear anything

why it happened?

another problem

move_base.launch will appear an error

[ WARN] [1573372871.772071867]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.1063 seconds
[ WARN] [1573372872.026204293]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.2542 seconds
[ WARN] [1573372872.206588979]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.1803 seconds

following is my launch

global_costmap_param.yaml

global_costmap:

  global_frame: map
  robot_base_frame: base_link
  update_frequency: 1.0
  static_map: true
  transform_tolerance: 5
  map_type: costmap

local_costmap_param.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 1.0
  publish_frequency: 5.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  transform_tolerance: 5
  resolution: 0.05
  map_type: costmap

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[9, 4.5], [9, -4.5],[-9, 4.5],[-9, -4.5]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser_scan_sensor point_cloud_sensor

laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}




plugins: 
    - {name: static_map,       type: "costmap_2d::StaticLayer"}
    - {name: obstacles,        type: "costmap_2d::VoxelLayer"}

base_local_planner.yaml

 TrajectoryPlannerROS:
      max_vel_x: 0.45
      min_vel_x: 0.1
      max_vel_theta: 1.0
      min_in_place_vel_theta: 0.4

      acc_lim_theta: 3.2
      acc_lim_x: 2.5
      acc_lim_y: 2.5

      holonomic_robot: true

move_base.launch

      <launch>

           <master auto="start"/>
         <!-- Run the map server --> 
            <node name="map_server"
                  pkg="map_server"
                  type="map_server"
                  args="$(find my_robot_name_2dnav)/map_package/map.yaml"/>

         <!--- Run AMCL --> 
            <include file="$(find amcl)/examples/amcl_omni.launch" />

           <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
             <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" 
ns="global_costmap" /> 
             <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
             <rosparam file="$(find my_robot_name_2dnav)/local_costmap_params.yaml" command="load" />
            <rosparam file="$(find my_robot_name_2dnav)/global_costmap_params.yaml" command="load" /> 
             <rosparam file="$(find my_robot_name_2dnav)/base_local_planner_params.yaml" command="load" />
            </node>

        </launch>

Please Help ME!

edit retag flag offensive close merge delete