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move base node only publishing 0's linear and angular values on /cmd _vel topic

I am using the navigation stack and when running the code my robot does not move (but sometimes it does start publishing on the cmdvel topic) and then I did a rostopic echo on the cmdvel topic and noticed it was only publishing 0's I have told it to move sending a command via the 2D nav goal in Rviz, and I have a node subscribing to the /initialpose and /movebasesimple/goal topics and publishing /initial2d and /goal2d which I have confirmed work , for odometry i do not use an imu only motor encodors which are running on my Arduino in that publishes encoder ticks (I have checked and this works to) also on the Arduino it subscribes to /cmdvel (works) the encoder ticks are published to a node that calculates the encodor ticks to odometry (works) and then published to the robotposeekf package to get a pose estimate (works)I also tried running the rqtgraph and everything seemed normal also I am using a RPlidar A1 (Works) I was wondering If I should add an IMU because I tried a test for my odometry, recommended on the navagation troubleshooting guide and when trying the tests it recommended my odometry was poor and I was wondering if the bad odometry was the cause. also I have not configured the robot footprint and just used some values that were not configured for my robot and just went along with this because I don't khow how to measure these or what to meausure btw: I am not using a simulation, thank you for your help

Getting this warning:

[ WARN] [1644177008.699891513]: Map update loop missed its desired rate of 30.0000Hz... the loop actually took 0.0341 seconds

results from rostopic echo /cmd_vel

linear: 
  x: 0.0
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.0
---
linear: 
  x: 0.0
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.0
---

results from rostopic echo /move_base/feedback/goal

WARNING: topic [/move_base/feedback/goal] does not appear to be published yet

results from rostopic echo /move_base/feedback/status

    goal_id: 
      stamp: 
        secs: 1644178269
        nsecs: 471130979
      id: "/move_base-7-1644178269.471130979"
    status: 1
    text: 

"This goal has been accepted by the simple action server"
---

result from rostopic echo /move_base/feedback/result

WARNING: topic [/move_base/feedback/result] does not appear to be published yet

screenshot of the tf tree

image description

screenshot of local costmap in rviz image description

baselocalplanner_params.yaml

TrajectoryPlannerROS:

  max_vel_x: 0.60

  min_vel_x: 0.30

  #max_vel_theta: 0.05

  #min_vel_theta: -0.05

  #min_in_place_vel_theta: 0.05



  #acc_lim_theta: 0.07

  #acc_lim_x: 0.40

  #acc_lim_Y: 0.40

holonomic_robot: false

costmapcommonparams.yaml 

obstacle_range: 0.5

raytrace_range: 0.5

footprint: [[-0.14, -0.14], [-0.14, 0.14], [0.14, 0.14], [0.14, -0.14]]

map_topic: /map

subscribe_to_updates: true

global_frame: odom

robot_base_frame: base_link

update_frequency: 30.0

publish_frequency: 30.0

rolling_window: false



plugins:

  - {name: static_layer, type: "costmap_2d::StaticLayer"}

  - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}



static_layer:

  map_topic: /map

  subscribe_to_updates: false



obstacle_layer:

    observation_sources: laser_scan_sensor

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



inflation_layer:

  inflation_radius: 0.2

globalcostmapparams.yaml

global_costmap:

  global_frame: odom

  update_frequency: 30.0

  publish_frequency: 30.0

  transform_tolerance: 0.2

  resolution: 0.1

localcostmapparams.yaml

local_costmap:

  update_frequency: 30.0

  publish_frequency: 30.0

  transform_tolerance: 0.2

  static_map: false

  rolling_window: true

  resolution: 0.1

  inflation_radius: 0.1

  width: 1.0

  height: 1.0



  plugins:

    - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}



  obstacle_layer:

    observation_sources: laser_scan_sensor

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

Asked by bribri123 on 2022-01-23 19:39:05 UTC

Comments

The robot shouldn't move until you've told it to move, and you haven't mentioned what your interaction with the robot looks like here. As far as I can tell this is the robot behaving as expected. You'll have to provide more detail if you'd like a more detailed answer.

Asked by cst0 on 2022-01-24 00:05:10 UTC

I added so more detail if you need more detail just ask

Asked by bribri123 on 2022-01-24 01:00:59 UTC

Can you please post your code to see if something is missing

Asked by osilva on 2022-01-24 09:25:29 UTC

(the code I used is not mine so the credits go to https://automaticaddison.com)

https://automaticaddison.com/how-to-publish-wheel-odometry-information-over-ros/ (encoder ticks to odometry) https://automaticaddison.com/how-to-create-an-initial-pose-and-goal-publisher-in-ros/ (subscribes to initial pose and 2d nav goal) https://automaticaddison.com/how-to-control-a-robots-velocity-remotely-using-ros/ (arduino code for publishing encoder ticks and listening to /cmd_vel)

Asked by bribri123 on 2022-01-24 19:42:39 UTC

Could you please your format your code snippets properly? You can do that by selecting the code snippets and pressing Ctrl + K.

Asked by skpro19 on 2022-02-03 11:50:59 UTC

Could you also add a Rviz screenshot of the local costmap?

Asked by skpro19 on 2022-02-03 11:53:09 UTC

Could you also add the terminal outputs for the following commands after sending a 2DNavGoal —

  • rostopic echo /cmd_vel
  • rostopic echo /move_base/feedback/goal
  • rostopic echo /move_base/feedback/status
  • rostopic echo /move_base/feedback/result

Asked by skpro19 on 2022-02-03 11:57:43 UTC

Could you also put a screenshot of your tf tree? You can do that by running rosrun tf view_frames followed by evince frames.pdf.

Asked by skpro19 on 2022-02-03 11:58:59 UTC

How should I display the local costmap in Rviz should I add Gridcells and select the local costmap topic

Asked by bribri123 on 2022-02-03 20:55:47 UTC

Ignore that. I don't think you are using a LiDAR.

Asked by skpro19 on 2022-02-04 01:39:10 UTC

Actually I am using A RPLIDAR A1 this may be connected but i'm getting this error

[ WARN] [1644177008.699891513]: Map update loop missed its desired rate of 30.0000Hz... the loop actually took 0.0341 seconds

Asked by bribri123 on 2022-02-06 15:06:47 UTC

@bribri123 add Maps and select the local_costmap topic.

Asked by skpro19 on 2022-02-06 15:12:24 UTC

should I add amcl configuration

Asked by bribri123 on 2022-02-08 19:05:16 UTC

@bribri123 that's not an error.

Asked by skpro19 on 2022-02-23 10:59:54 UTC

Did you localize your bot in the map by using the initialpose button in Rviz before giving the goal?

I might be wrong here but looking at the Rviz, it seems as if the bot might be in collision (with the walls). You might want to update the Rviz screenshot with the robot footprint.

Also, it's weird that /move_base/feedback/goal is not being published whereas /move_base/feedback/status is. You might want to check that again.

Asked by skpro19 on 2022-02-23 11:08:09 UTC

Answers