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move_base is not sending data to cmd_vel

asked 2023-01-10 21:44:30 -0600

mgrallos gravatar image

Hi, I am working on a ros project where I need to use move_base on my custom drone. I already set up its tf transformations, maps, amcl, and YAML files but when I sent a 2d nav goal my drone isn't moving.

I tried echoing the move_base/goal topic and when I click a goal in the map it does receive data.

But when I try echoing cmd_vel when clicking a goal in the map, it doesn't receive any data.

I am new to ROS. And I am currently using ros noetic.

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Does it have a sensor that can be used for localization, such as an IMU or GPU?

miura gravatar image miura  ( 2023-01-15 02:52:38 -0600 )edit

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answered 2023-01-12 20:34:30 -0600

Davies Ogunsina gravatar image

Alot of things can be wrong here :

  1. setting the proper config for move_base.

  2. Is your robot properly localized.

  3. whats the max velocity and min velocity published in your move_base dwa planner parameter.

  4. where you able to publish to cmd_vel of your robot with teleop node?

  5. Are your topic parameters well configured in your move_base package?

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  1. I just used the default parameters for move_base node. What I configured was the tf frames.
    1. I don't know but I guess so it does have green particles below my robot and it converges to a more exact location with time
    2. also the default values. max_vel_x: 0.65, min_vel_x: 0.0, max_vel_y: 0.1, min_vel_y: -0.1
    3. yes i was able to move the robot using teleop
    4. help I don't know huhu but it seems that I don't have an odom topic but I remap it to "World".
mgrallos gravatar image mgrallos  ( 2023-01-12 21:16:07 -0600 )edit

What's your fixed frame in rviz ?and also what mapping stack did you use ? Does your robot subscribe to odometry ?

Davies Ogunsina gravatar image Davies Ogunsina  ( 2023-01-12 21:19:55 -0600 )edit

The fixed frame is map. I don't know if this is right but I used gmapping for mapping. No, but I found this line somewer however it's not a static_transform_publisher.

mgrallos gravatar image mgrallos  ( 2023-01-12 21:28:31 -0600 )edit

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Asked: 2023-01-10 21:44:30 -0600

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Last updated: Jan 12 '23