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TurtleBot "move_base/goal" Problem

asked 2012-05-14 03:19:52 -0500

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Publishing a MoveBaseActionGoal.msg on the move_base/goal topic sometimes fails. Sometimes, though the goal appears on "rostopic echo move_base/goal", the TurtleBot will not move.

Can anyone resolve the issue?

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answered 2012-05-14 03:44:40 -0500

Lorenz gravatar image

Normally, you should not send MoveBaseActionGoal messages directly. Instead, use actionlib. Have a look at this tutorial.

In your case, unless you can provide more information, I think it is hard to say what the actual problem is. Does rxconsole show something? My guess is that you don't fill in some information actionlib relies on correctly. Using actionlib instead of constructing the goal by hand would prevent that.

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Thanks a lot!

McMurdo gravatar imageMcMurdo ( 2012-05-15 23:57:13 -0500 )edit
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answered 2012-05-17 20:52:20 -0500

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Suppose I want to check the position only. If the position is right, I want the robot to proceed to the next goal. Only for the last goal, I check the orientation also.

Currently I am using a callback to verify the position and I do move_base/cancel topic to cancel the goal once the position is reached. This I do to increase the fluency of the maneuver. Please suggest a method to so that using the Actionlib_msgs thing.

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You should use actionlib for cancelling goals. You should never send goals, cancel messages etc. manually.

Lorenz gravatar imageLorenz ( 2012-05-17 22:42:58 -0500 )edit

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Asked: 2012-05-14 03:19:52 -0500

Seen: 1,204 times

Last updated: May 17 '12