rviz doesn't appear local_plan
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
rqt_graph:
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!