nav2d Multi Agent Exploration
Platform: Ubuntu 18.04 VM on VirtualBox
I've read this thread and I am trying to do the same thing. I've completed tutorials 1-3 and I noticed that something has changed regarding nav2d services. rosservice call /StartMapping 3
would fail in tutorial 3 while rosservice call /StartMapping
would not. It would raise an exception that no parameters were expected.
So when moving onto "combining" tutorials 3 and 4 to get multi agent exploration by following the configuration and steps in the thread linked. I used rosservice call /robot_0/StartMapping
instead of rosservice call /robot_0/StartMapping 3
as the latter would fail.
Pictured is the output I would get running the recommended commands after adding the Operator, Navigator and the ActionClients to both robot namespaces.rosservice call /robot_0/StartMapping
would not move robot_0 like it would in tutorial 3. I even tried copying tutorial 3's mapper over to each robots namespace with no luck.
Considering that the question was asked 6 years ago has anything changed that I'm missing here? Has anyone encountered a similar issue?
Here is the edited tutorial4 launch file:
<launch>
<!-- Some general parameters -->
<param name="use_sim_time" value="true" />
<!-- Start Stage simulator with a given environment -->
<node name="Stage" pkg="stage_ros" type="stageros" args="$(find nav2d_tutorials)/world/tutorial4.world">
<param name="base_watchdog_timeout" value="0" />
</node>
<!-- Start the joystick-driver and remote-controller for operation-->
<node name="Joystick" pkg="joy" type="joy_node" />
<node name="Remote" pkg="nav2d_remote" type="remote_joy" />
<node name="R0_MapAlign" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /robot_0/map 100"/>
<node name="R1_MapAlign" pkg="tf" type="static_transform_publisher" args="40 0 0 0 0 0 /map /robot_1/map 100"/>
<group ns="robot_0">
<param name="robot_id" value="1" />
<param name="tf_prefix" type="string" value="robot_0"/>
<rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>
<!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >
<remap from="scan" to="base_scan"/>
<rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
<rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
</node>
<!-- Start the Navigator to move the robot autonomously -->
<node name="Navigator" pkg="nav2d_navigator" type="navigator">
<rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
</node>
<node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
<node name="Explore" pkg="nav2d_navigator" type="explore_client" />
<node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />
<node name="Mapper" pkg="nav2d_karto" type="mapper">
<remap from="scan" to="base_scan"/>
<rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
</node>
<!-- Commenting Out
<node name="Mapper" pkg="nav2d_karto" type="mapper">
<remap from="scan" to="base_scan"/>
<remap from="karto_in" to="/shared_scans_r2"/>
<remap from="karto_out" to="/shared_scans_r1"/>
<rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
</node>
-->
</group>
<group ns="robot_1">
<param name="robot_id" value="2" />
<param name="tf_prefix" type="string" value="robot_1"/>
<rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>
<!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >
<remap from="scan" to="base_scan"/>
<rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
<rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
</node>
<!-- Start the Navigator to move the robots autonomously -->
<node name="Navigator" pkg="nav2d_navigator" type="navigator">
<rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
</node>
<node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
<node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />
<node name="Localize" pkg="nav2d_navigator" type="localize_client" />
<node name="Explore" pkg="nav2d_navigator" type="explore_client" />
<node name="Mapper" pkg="nav2d_karto" type="mapper">
<remap from="scan" to="base_scan"/>
<rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
</node>
<!-- Commenting Out
<node name="Mapper" pkg="nav2d_karto" type="mapper">
<remap from="scan" to="base_scan"/>
<remap from="karto_in" to="/shared_scans_r1"/>
<remap from="karto_out" to="/shared_scans_r2"/>
<rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
</node>
-->
</group>
<!-- RVIZ to view the visualization -->
<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial4.rviz" />
Thank you!
Asked by GageAsch on 2020-09-15 19:29:03 UTC
Answers
About the StartMapping service, the parameter was indeed removed some years ago, so it's just called with no params now.
About the error message you receive I cannot really say much about it. Have you checked ros-console whether there are any errors or warnings when you call StartMapping on robot_0?
Asked by Sebastian Kasperski on 2021-01-18 05:59:27 UTC
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