A Multi Map Navigation Question: "set_map" service [closed]

asked 2013-01-28 03:56:40 -0600

Lure_Angler gravatar image

updated 2013-01-28 04:11:59 -0600

Hello there,

My question pertains to the multi_map_navigation package. I pulled it from http://jks-ros-pkg.googlecode.com/svn/trunk/pr2_coffee

Question:

Why is it that I do not see "set_map" as a ROS service when I tried to follow the wiki here: http://www.ros.org/wiki/multi_map_navigation

Context

I am building an Autonomous Underwater Vehicle and getting it to path plan with EKF'ed odometery. I managed to tune "move_base" parameters to give reasonably good motion in the X-Y plane. The depth PID also gives fairly stable depth control.

I am exploring the use of multi map navigation to hack out a system that would allow the AUV navigate in the X-Y plane of a few depth setpoints.

Prelude

  • After pulling it I realized that the package depends on "map_store"; "map_store" depends on "warehouse_ros".
    • I was unable to compile to "warehouse_ros"; I am using ROS Fuerte but the make files in it seem to point to catkin.
    • I discovered the "warehousewg" and installed via this command==> "sudo apt-get install ros-fuerte-warehousewg"
    • I manually changed the "manifest.xml" files of map_store so that it can compile against "warehousewg"
    • both "multi_map_navigation" and "map_store" are able to compile and I am also able to launch it.
    • I am also able to load maps into "map_manager", which I understand is a part of "map_store"; i loaded with this command: rosrun map_store add_map.py /path/to/myMap.yaml (myMap.pgm resides in the same directory as myMap.yaml); it outputs "Done" after I press enter.

*I actually have a few other qs about multi_map_navigation but it seems to be the practice here to ask 1 qs per post so I'll just ask one here.

Thank you for your time. appreciate any answers, insight or directions.

have a good day.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-10-14 16:16:56.793477

Comments

Sorry for the late response. This most likely means that multi-map navigation can't start up for some reason. Here are a set of steps to troubleshoot, based on the source code.

tpratkanis_wg gravatar imagetpratkanis_wg ( 2013-04-01 12:58:54 -0600 )edit
  1. Is the launch file that starts the multi_map_navigation node actually getting run? See if it is in the results of 'rosnode list'. If not, then roslaunch is for some reason not getting to that file.
tpratkanis_wg gravatar imagetpratkanis_wg ( 2013-04-01 12:59:24 -0600 )edit
  1. Are all map_store services there? The system won't advertise set_map until map_store/list_maps, map_store/publish_map, and map_store/dynamic_map are connected up.
tpratkanis_wg gravatar imagetpratkanis_wg ( 2013-04-01 13:00:58 -0600 )edit
  1. What is your transition_types parameter set to? If there is no transition_types then it will default to requesting a bunch of transition actions to be present. Add <param name="transition_types" value="" /> to your node launch if it is not there.
tpratkanis_wg gravatar imagetpratkanis_wg ( 2013-04-01 13:02:46 -0600 )edit

Do you get "You must specify a definition_file" in any of your logs (check ~/.ros/logs/ with grep)? If so, then you have not properly specified a file for definitions of the map - the yaml file that links them all together.

tpratkanis_wg gravatar imagetpratkanis_wg ( 2013-04-01 13:04:13 -0600 )edit

Do you get "Waiting for position" in your logs (check with grep)? If so, then AMCL or another localization system needs to be running - the robot is not getting its position.

tpratkanis_wg gravatar imagetpratkanis_wg ( 2013-04-01 13:05:08 -0600 )edit