RRT_exploration package is not responding to my published boundary pts ?

asked 2020-08-05 09:57:08 -0500

Shiva_uchiha gravatar image

I need help in using rrt_exploration with my simulation.I tried to use RRT_exploration with my own simple urdf 4 wheeled robot driven by gazebo plugin.I have a custom maze.I have checked topics and have fed all data accordingly.I am not sure where is the error.

i am attaching a launch file for reference .

    <?xml version="1.0"?>

<launch>
  <param name="/use_sim_time" value="true" />
  <remap from="robot/laser/scan" to="/scan" />
  <!--Joint_state_publishers && robot_state_publishers-->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
        <param name="use_gui" value="False"/>
    </node>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find project1urdf)/robot1_description/worlds/maze.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="recording" value="false"/>
    <arg name="debug" value="false"/>
  </include>


  <!-- launch the robot in gazebo and necessary joy control nodes -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
    args="-urdf -model robot1 -param robot_description -z 0.05"/>


  <!-- Load the URDF into the ROS Parameter Server -->
  <!--arg name="model" /-->
  <param name="robot_description" 
     command="$(find xacro)/xacro.py $(find project1urdf)/robot1_description/urdf/robot3.xacro" />

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find project3nav)/rviz/rrt.rviz"/>

 <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find project3nav)/map/map.yaml"/> -->

  <node pkg="gmapping" type="slam_gmapping" name="gmapping_thing" output="screen" >

  </node>


<!--+++++++++++++++++++++++++++++++++++++++++++++++++++-->



  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file = "$(find project3nav)/nav_config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <rosparam file = "$(find project3nav)/nav_config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
    <rosparam file = "$(find project3nav)/nav_config/local_costmap_params.yaml" command="load" />
    <rosparam file = "$(find project3nav)/nav_config/global_costmap_params.yaml" command="load" />
    <rosparam file = "$(find project3nav)/nav_config/base_local_planner_params.yaml" command="load" />
  </node>


  <arg name="eta" value="1.0"/>
  <arg name="Geta" value="15.0"/>
  <node pkg="rrt_exploration" type="global_rrt_detector" name="global_detector" output="screen">
  <param name="eta" value="$(arg Geta)"/>
  <param name="map_topic" value="/map"/>
  </node>

  <node pkg="rrt_exploration" type="local_rrt_detector" name="local_detector" output="screen">
  <param name="eta" value="$(arg eta)"/>
  <param name="map_topic" value="/map"/>
  <param name="robot_frame" value="/base_link"/>
  </node>


  <node pkg="rrt_exploration" type="filter.py" name="filter" output="screen">
  <param name="map_topic" value="/map"/>
  <param name="info_radius" value="1"/> 
  <param name="costmap_clearing_threshold" value="70"/> 
  <param name="goals_topic" value="/detected_points"/>
  <param name="n_robots" value="1"/>
  <param name="rate" value="100"/>
  <remap from="/move_base_node/global_costmap/costmap" to="/move_base/global_costmap/costmap"/>
  </node>

  <node pkg="rrt_exploration" type="assigner.py" name ...
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