Nav Nodes not showing waypoints in RVIZ for autonomous mission using Husky robot

asked 2022-03-03 09:05:25 -0500

dm68 gravatar image

I am using a Dual UR5 Husky robot (real world robot) and are trying to complete an autonomous waypoint mission. I complete the following steps

A) SSH into the robot and then in the same terminal window type in the following (This allows for my selected yaml map to be located on the robotic platform itself):

'roslaunch husky_navigation amcl_demo.launch map_file:=/home/administrator/maps/joshfrl.yaml'

B) New Terminal Window on my PC and include the following (This opens up RVIZ with the robot in the map):

'roslaunch rosplan_husky_demo husky.launch'

C) Next I use 2D pose estimate and position the arrow where the robot approximately is in the room. Now here is the problem. RVIZ displays the nav edges (green lines in figure attached) however, does not display the nav nodes (waypoints). Therefore the autonomous mission does not occur.

D) Once the problem above is fixed I can then run this line of code in a terminal window on my pc to allow the robot to execute the autonomous mission

rosrun rosplan_husky_demo husky_waypoints.bash

How is it I get my waypoints to display in RVIZ at step C?

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