move_base won't subscribe to /scan topic
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!