move_base won't subscribe to /scan topic

asked 2021-06-23 10:29:23 -0500

jmyazbeck

22 ●6 ●8 ●12

updated 2022-05-15 08:29:23 -0500

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

I am publishing laser scan data from another framework, but move_base won't subscribe to it. I know it is being published from rostopic echo scan. The sensor frame shows correctly in the tf_tree and I don't see why move_base wont subscribe to the topic.

Here is my move_base.launch file:

<launch>

  <master auto="start"/>
  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="/home/jm/isaac/sdk/packages/eband_ros/maps/factory.yaml"/>

  <!-- move_base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

    <rosparam file="$(find isaac_navigation)/param/costmap_common_params.yaml" command="load" />
    <rosparam file="$(find isaac_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find isaac_navigation)/param/global_costmap_params.yaml" command="load" />

    <param name="base_global_planner" type="string" value="navfn/NavfnROS" />
    <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" />

  </node>
</launch>

and here is my costmap_common_params.yaml file :

obstacle_range: 0.5
raytrace_range: 3.0
footprint: [[0.57, 0.75],[0.57, -0.75],[-1.153, -0.75],[-1.153, 0.75]]
inflation_radius: 0.25

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}

I would like to upload the rqt_graph and the rqt_tf_tree pictures but i dont have enough points.

Thanks in advance for helping!

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answered 2021-06-24 08:22:22 -0500

tryan
1421 ●96 ●26

updated 2021-06-24 08:23:33 -0500

In the navigation tutorial, notice that costmap_common_params.yaml is loaded twice but in different namespaces:

<rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
<rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />

In your case, you load the common parameters once without a namespace, so the parameters aren't where the two costmaps are looking for their parameters. You can check the parameter definitions with:

rosparam list

With a correct setup, you should see the common parameters listed under each costmap's namespace, like:

...
/move_base/global_costmap/obstacles_layer/scan_1/clearing
/move_base/global_costmap/obstacles_layer/scan_1/data_type
...
/move_base/local_costmap/obstacles_layer/scan_1/clearing
/move_base/local_costmap/obstacles_layer/scan_1/data_type
...

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Awesome, thank you so much. It makes sense and it worked!

jmyazbeck ( 2021-06-24 09:02:02 -0500 )edit

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answered 2021-06-23 11:25:45 -0500

Vignesht.tech
16 ●1 ●3 ●3

updated 2021-06-23 11:30:32 -0500

Try adding / before the scan topic in costmap param.

Like this

laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

if that don't work try without sensor_frame in it.

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I just tried both and it does not work

jmyazbeck ( 2021-06-24 06:47:44 -0500 )edit

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move_base won't subscribe to /scan topic

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