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Turtlebot2 use sbpl_lattice_planner to navigate, but get "failded to find a solution"

asked 2013-02-02 17:11:25 -0500

redheli gravatar image

updated 2013-02-02 19:16:13 -0500

I just get the Turtlebot2. It works well with default move_base global planner. I can give the goal in rviz, and it move to the goal correctly.

Now I am trying to use sbpl_lattice_planner as global planner, as I want to generate path without turning in place. I mean Turtlebot2 will move as a car like robot.

1) so I generate the motion primitive file without turning in place.

https://www.dropbox.com/s/uoz1b9snfju7usz/genmprim_unicycle_005.m

2) make a new launch file ,set move_base param "base_global_planner" as "SBPLLatticePlanner"

I launch the move_base and rviz without error. I can push the robot, and in rviz the turtlebot moves. localization is OK.

but when I give a goal in rviz, sbpl_lattice_planner can not find the path, even the goal is just 0.1 meter straight forward of the turtlebot2.

output of move_base:

... logging to /home/turtlebot/.ros/log/aaa7fbae-6da7-11e2-b8da-844bf57e1339/roslaunch-turtlebot-AO756-15972.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/home/turtlebot/ros_workspace/turtlebot_apps/turtlebot_navigation/launch/amcl_sbpl.launch
started roslaunch server http://192.168.1.6:40117/

SUMMARY
========

PARAMETERS
 * /amcl/gui_publish_rate
 * /amcl/initial_pose_a
 * /amcl/initial_pose_x
 * /amcl/initial_pose_y
 * /amcl/kld_err
 * /amcl/kld_z
 * /amcl/laser_lambda_short
 * /amcl/laser_likelihood_max_dist
 * /amcl/laser_max_beams
 * /amcl/laser_max_range
 * /amcl/laser_model_type
 * /amcl/laser_sigma_hit
 * /amcl/laser_z_hit
 * /amcl/laser_z_max
 * /amcl/laser_z_rand
 * /amcl/laser_z_short
 * /amcl/max_particles
 * /amcl/min_particles
 * /amcl/odom_alpha1
 * /amcl/odom_alpha2
 * /amcl/odom_alpha3
 * /amcl/odom_alpha4
 * /amcl/odom_alpha5
 * /amcl/odom_frame_id
 * /amcl/odom_model_type
 * /amcl/recovery_alpha_fast
 * /amcl/recovery_alpha_slow
 * /amcl/resample_interval
 * /amcl/transform_tolerance
 * /amcl/update_min_a
 * /amcl/update_min_d
 * /amcl/use_map_topic
 * /camera/depthimage_to_laserscan_loader/output_frame_id
 * /camera/depthimage_to_laserscan_loader/range_min
 * /camera/depthimage_to_laserscan_loader/scan_height
 * /camera/openni_camera_loader/depth_frame_id
 * /camera/openni_camera_loader/depth_mode
 * /camera/openni_camera_loader/depth_registration
 * /camera/openni_camera_loader/depth_time_offset
 * /camera/openni_camera_loader/image_mode
 * /camera/openni_camera_loader/image_time_offset
 * /camera/openni_camera_loader/rgb_frame_id
 * /move_base/SBPLLatticePlanner/primitive_filename
 * /move_base/TrajectoryPlannerROS/acc_lim_th
 * /move_base/TrajectoryPlannerROS/acc_lim_x
 * /move_base/TrajectoryPlannerROS/acc_lim_y
 * /move_base/TrajectoryPlannerROS/dwa
 * /move_base/TrajectoryPlannerROS/goal_distance_bias
 * /move_base/TrajectoryPlannerROS/heading_lookahead
 * /move_base/TrajectoryPlannerROS/holonomic_robot
 * /move_base/TrajectoryPlannerROS/max_rotational_vel
 * /move_base/TrajectoryPlannerROS/max_vel_x
 * /move_base/TrajectoryPlannerROS/meter_scoring
 * /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base/TrajectoryPlannerROS/min_vel_x
 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base/TrajectoryPlannerROS/path_distance_bias
 * /move_base/TrajectoryPlannerROS/sim_time
 * /move_base/TrajectoryPlannerROS/vtheta_samples
 * /move_base/TrajectoryPlannerROS/vx_samples
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base/base_global_planner
 * /move_base/controller_frequency
 * /move_base/global_costmap/bump/clearing
 * /move_base/global_costmap/bump/data_type
 * /move_base/global_costmap/bump/marking
 * /move_base/global_costmap/bump/topic
 * /move_base/global_costmap/footprint
 * /move_base/global_costmap/footprint_padding
 * /move_base/global_costmap/global_frame
 * /move_base/global_costmap/inflation_radius
 * /move_base/global_costmap/max_obstacle_height
 * /move_base/global_costmap/observation_sources
 * /move_base/global_costmap/obstacle_range
 * /move_base/global_costmap/publish_frequency
 * /move_base/global_costmap/raytrace_range
 * /move_base/global_costmap/robot_base_frame
 * /move_base/global_costmap/robot_radius
 * /move_base/global_costmap/scan/clearing
 * /move_base/global_costmap/scan/data_type
 * /move_base/global_costmap/scan/marking
 * /move_base/global_costmap/scan/topic
 * /move_base/global_costmap/static_map
 * /move_base/global_costmap/transform_tolerance
 * /move_base/global_costmap/update_frequency
 * /move_base/local_costmap/bump/clearing
 * /move_base/local_costmap/bump/data_type
 * /move_base/local_costmap/bump/marking
 * /move_base/local_costmap/bump/topic
 * /move_base/local_costmap/footprint
 * /move_base/local_costmap/footprint_padding
 * /move_base/local_costmap/global_frame
 * /move_base/local_costmap/height
 * /move_base/local_costmap/inflation_radius
 [ INFO] [1359864425.904491010]: Subscribed to Topics: scan
[ INFO] [1359864425.929688201]: Requesting the map...

[ INFO] [1359864425.932161705]: Still waiting on map...

[ INFO] [1359864426.934195933]: Still waiting on map...

[ WARN] [1359864427.937342467]: You have set map ...
(more)
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answered 2015-09-01 01:27:38 -0500

jxl gravatar image

updated 2015-09-01 02:06:10 -0500

Maybe ,in your move_base node of " _move_base_sbpl.launch",you missed <rosparam file="$(find ***)/param/move_base_params.yaml" command="load" />and <rosparam file="$(find ***)/param/sbpl_global_params.yaml" command="load" />.By the way ,your goal is set too close to your start, i think .

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Asked: 2013-02-02 17:11:25 -0500

Seen: 1,034 times

Last updated: Sep 01 '15