How do I make the right connections for move_base?

asked 2020-05-19 06:12:32 -0500

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I am trying to use move_base but I'm not having any success. I get the following output from roswtf, which suggests I've not connected up everything correctly.

Loaded plugin tf.tfwtf
No package or stack in context
Static checks summary:

No errors or warnings
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /ekf_localization:
   * /set_pose
 * /rviz:
   * /twist_marker_server/update
   * /map_updates
 * /gazebo:
   * /gazebo/set_link_state
   * /gazebo/set_model_state
 * /move_base:
   * /front/scan
   * /move_base_simple/goal
   * /move_base/cancel
 * /twist_mux:
   * /bluetooth_teleop/cmd_vel
   * /joy_teleop/cmd_vel
   * /twist_marker_server/cmd_vel
   * /e_stop

WARNING These nodes have died:
 * teleoperation-8
 * spawn_urdf-9
 * global_loc-13

Found 1 error(s).

ERROR The following nodes should be connected but aren't:
 * /move_base->/move_base (/move_base/global_costmap/footprint)
 * /move_base->/move_base (/move_base/local_costmap/footprint)

Could anyone advise how to implement properly? The launch code is as follows:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find jackal_navigation)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find jackal_navigation)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find jackal_navigation)/params/map_nav_params/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/map_nav_params/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/move_base_params.yaml" command="load" />
    <param name="base_global_planner" type="string" value="navfn/NavfnROS" />
    <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>
    <remap from="odom" to="odometry/filtered" />
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