global_costmap/footprint and local_costmap/footprint should be connected
Hello All, This error appears to me when I am using the Navigation stack with RTAB map using the ZED 2 camera. Can anyone help me with that error? how can I handle it and what it means? Thanks in advance!
Found 1 warning(s). Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected: * /rtabmap/rtabmap: * /rtabmap/user_data_async * /rtabmap/initialpose * /rtabmap/goal * /rtabmap/gps/fix * /rtabmap/imu * /rtabmap/global_pose * /rtabmap/goal_node * /zed2/zed2_state_publisher: * /zed2/joint_states * /planner/move_base: * /planner/move_base/cancel * /planner/move_base_simple/goal
Found 1 error(s).
ERROR The following nodes should be connected but aren't: * /planner/move_base->/planner/move_base (/planner/move_base/global_costmap/footprint) * /planner/move_base->/planner/move_base (/planner/move_base/local_costmap/footprint)
How are passing params for the costmaps?
In the launch file:
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="$(find rtab_nav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/> <rosparam file="$(find rtab_nav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/> <rosparam file="$(find rtab_nav)/config/local_costmap_params.yaml" command="load"/> <rosparam file="$(find rtab_nav)/config/global_costmap_params.yaml" command="load"/> <rosparam file="$(find rtab_nav)/config/move_base_params.yaml" command="load"/> <rosparam file="$(find rtab_nav)/config/navfn_global_planner_params.yaml" command="load"/> <rosparam file="$(find rtab_nav)/config/dwa_local_planner_params.yaml" command="load"/> </node>
Please format the code properly (selct and press
Ctrl + K). Also, what do you mean byfollowing nodes should be connected?