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explore stack

asked 2012-07-16 22:45:52 -0500

pkohout gravatar image

updated 2012-07-17 02:51:30 -0500

joq gravatar image

hi, i am trying to use the explore stack in gazebo, but i get the following warnings:

[ WARN] [1342514709.419049768, 713.848000000]: Costmap2DROS transform timeout. Current time: 713.8480, global_pose stamp: 713.5130, tolerance: 0.3000
[ WARN] [1342514708.892588284, 711.502000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2230 seconds

i dont't find a doku about the explore stack just the examples...can anyone help me ?

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please can you tell me how you used explore stack in gazebo ?

salma gravatar image salma  ( 2013-04-21 03:14:34 -0500 )edit

i tried it ,it begin to draw the map, but it didn't move on rviz without teleop

salma gravatar image salma  ( 2013-04-21 03:16:23 -0500 )edit

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answered 2012-07-17 03:00:54 -0500

cagatay gravatar image

you have to change tranform tolerance, set it to something like 0.5 and you have to decrease update_frequency in global costmap params and local costmap params. it is stated to have them same in navigation tuning wiki

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ok thanks, the warning are now gone. but i have still a problem, i dont publish anything on the slam_entropy topic, which pkg publishes there something ? do you have some advise ?

pkohout gravatar image pkohout  ( 2012-07-17 03:47:34 -0500 )edit

gmapping publsihes entropy, maybe slam_entropy can be remapped type of it

cagatay gravatar image cagatay  ( 2012-07-17 04:15:30 -0500 )edit

remapping works, the explore nodes subscribes it...but still nothing happens.... did i have to call a service or so that the explore node starts exploring or so ??

pkohout gravatar image pkohout  ( 2012-07-17 23:17:44 -0500 )edit

yes it can subscribe it but is remapped topic being published ?

cagatay gravatar image cagatay  ( 2012-07-19 01:04:40 -0500 )edit

nope remapped topic does not publish anything ://

pkohout gravatar image pkohout  ( 2012-07-19 01:25:07 -0500 )edit

now it all get published and subscribed, but i get the following info after starting exploration:Done exploring with 0 goals left that could not be reached. There are 0 goals on our blacklist, and 0 of the frontier goals are too close to them to pursue. The rest had global planning fail to them.

pkohout gravatar image pkohout  ( 2012-07-23 03:13:50 -0500 )edit

exploration complete .... do you have any ideas ?

pkohout gravatar image pkohout  ( 2012-07-23 03:14:25 -0500 )edit

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Asked: 2012-07-16 22:45:52 -0500

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Last updated: Jul 17 '12