[Navigation] move_base not responding to nav goals being sent
Hey, can and will provide information as it is helpful. Fairly certain my tf tree is setup right, and I believe I have covered everything in my launch file from the ros navigation stack tutorial and everything launches without error, I can see the map in RViz with my bot. When I create a nav goal though nothing happens. The move_base node never publishes anything on the /cmd_vel topic.
When I echo /cmd_vel and some others I get:
"WARNING: no messages received and simulated time is active.
Is /clock being published?" (I am running gazebo and that publishes /clock, and I can confirm that with a rostopic echo)
Anyone have any idea where the disconnect would be?
Things I have looked into and tried:
- move_base is subscribed to /move_base_simple/goal
- move_base is set to publish on /cmd_vel
- I can send my own cmd_vel commands fine that isn't in question
- I tried rostopic pub /move_base/goal move_base_msgs/MoveBaseActionGoal "header:...
- no success publishing the goal manually on that topic
- I don't see any disconnects on rqt_graph or the tf tree that would worry me.
I cant upload images, but you can check out my tf tree and rqt_graph output on my reddit post on the topic; https://www.reddit.com/r/ROS/comments...
Any help would be greatly appreciated, I am just kind of at a loss for where to go next in debugging.
are you able to visualize the local_costmaps in rviz. The obstacles and the inflation radius are all showing up properly? Cause when I look at your rqt_graph, move_base is not publishing anything. Specifically, the topics: 1. move_base/obstacles 2. move_base/inflated_obstacles 3. local_costmap/unknown_space are not showing up And also other topics like TrajectoryPlanners etc...are not showing up. Have you referred to this link: using Rviz with Navigation Stack
Lastly, did you resolve this issue, if yes, how? Because I'm facing the same problem. Thanks
He seemed to solve it but the answer is here.
Hope it helps you.