Setup and Configuration of the Navigation Stack on my robot.

asked 2021-03-20 07:48:13 -0500

Roambot
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updated 2021-03-22 08:09:02 -0500

tryan
1421 ●96 ●26

Good day! I have a problem setting up the config of the navigation stack for my robot. The thing is that I don't know how to provide the "sensor_node_pkg" since I'm running this bad boy in gazeebo and as far as I can tell the camera in gazeebo only runs on a plugin?

So in the Wiki it gives me:

2.1 Creating a Robot Configuration Launch File. with the following code snippet:

<launch>

  <node pkg="sensor_node_pkg" type="sensor_node_type" name="sensor_node_name" output="screen">
    <param name="sensor_param" value="param_value" />
  </node>
  <node pkg="odom_node_pkg" type="odom_node_type" name="odom_node" output="screen">
    <param name="odom_param" value="param_value" />
  </node>
  <node pkg="transform_configuration_pkg" type="transform_configuration_type" name="transform_configuration_name" output="screen">
    <param name="transform_configuration_param" value="param_value" />
  </node>

</launch>

Is there anyone out there that knows how to bypass the request for the sensor pkg? I'm currently trying to find all the parameters with my "expert lvl" rostopic and rospack commands but I am not clutching this any time soon. Any response or resources would be greatly appreciated.

yours faithfully - confused

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Use the 101010 button to format code blocks. Also, it's a good habit to provide a link when referencing a tutorial. In this case, it's pretty easy to find, but the less work people have to do to help you, the better answers you'll get.

tryan ( 2021-03-22 08:23:02 -0500 )edit

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answered 2021-03-22 09:07:01 -0500

tryan
1421 ●96 ●26

In short, just don't put that node in your launch file.

Assuming you successfully have your robot working in Gazebo, you may already have the purpose of this launch file covered. This is just a very general template. It's up to you to make sure you have the basic functionality of your robot (Robot Setup) before trying navigation. The main things are:

Something publishes sensor data.
Something publishes odometry.
Something publishes the necessary transforms.
Something listens to Twist messages and moves your robot.

If your simulation launch file provides these things, you're all set. As you mentioned, Gazebo plugins can handle your sensors. Gazebo can also handle the odometry and controller. The transforms are usually handled by a robot_state_publisher node, which may be in your Gazebo launch file as well.

On a side note, if you're using just a camera, you'll need to do some extra work to get the necessary data for navigation since the Gazebo camera sensor plugin output type is sensor_msgs/Image. From Sensor Information:

The navigation stack uses information from sensors to avoid obstacles in the world, it assumes that these sensors are publishing either sensor_msgs/LaserScan or sensor_msgs/PointCloud messages over ROS.

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Setup and Configuration of the Navigation Stack on my robot.

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Setup and Configuration of the Navigation Stack on my robot.