Pioneer3-Navigation-tf-/odom /map problem

asked 2012-11-06 04:12:56 -0500

keron
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updated 2012-11-06 23:02:01 -0500

Hello, I have some problems with a rebuild pioneer3-dx. The rebuild is with a construction(nearby 4kg weight and a Sick LMS 200). Right now I use the navigation stack ( AMCL and the Move_Base) and the p2os-stack(dashboard, motor, driver, joystick). While the robot runs with this configuration, the odom frame drifts farther and farther from the map-frame(the odom rotates around the base_link) see Scheme. After 3 rotations it lose its orientation of the map. The problem is when I send the target vectors to move_base_client direct, the zero coordinates change from map(as start point) to odom. At this situation the starting point is now at a new position in the wall. I tried to manipulate the values from navfn and amcl(odom-values) to compress the failure without success. Has anyone knowledge about this problems?? Thanks in anticipate.

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What do you men with "the zero coordinates change from map to odom"?

Lorenz ( 2012-11-06 04:31:59 -0500 )edit

I mean the origin frame, if I start the robot. This pose is at the frame /map. Normally, during the robot is active /odom should have always the same position nearby the /map. But if I use a joystick or the move_base_client ,the frame /odom drift away.

keron ( 2012-11-06 11:41:53 -0500 )edit

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answered 2012-11-06 23:11:52 -0500

dornhege

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This is not a problem, but the correct behaviour. The /odom frame naturally has drift and thus will not coincide with /map when running localization. If you want to address coordinates in a globally consistent frame, use /map, not /odom.

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answered 2012-11-07 01:44:50 -0500

keron
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Thanks I tried it, but the problem is nearby the same. Now the origin /map rotates a little bit after calling the move_base_client. Than MoveBase the error : "[ERROR] [1352218718.334551350]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors." Is this possible that navigation stack only works in a simulated environment?? Like an empty room.

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Please do not post an answer for discussion. Edit your original question or use the comment functionality instead.

dornhege ( 2012-11-07 02:08:31 -0500 )edit

Given the message I guess either your current state or the goal is in collision. Is rviz working to send the goal?

dornhege ( 2012-11-07 02:12:37 -0500 )edit

Yes it works. And the topic echo move_base_simple/goal show the vector from the current pos to the target pos,too. I tested it from different locations, I think rviz use everytime its own coordinate system. But I would like use the navigation without rviz and with an Interface to different programs

keron ( 2012-11-07 02:55:24 -0500 )edit

If it works with rviz it also works otherwise. rviz uses the fixed frame, which should be set to /map. Your code should do the same and provide valid coordinates. You can compare by echoing the topic output from rviz. Your values for the same goal should be similar.

dornhege ( 2012-11-07 05:10:05 -0500 )edit

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Pioneer3-Navigation-tf-/odom /map problem

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Pioneer3-Navigation-tf-/odom /map problem