Explore package on Gazebo & Turtlebot
I have managed to use the explore package (frontier based exploration) with stage without problem. Now, I would like to use it with Gazebo and in the real world. I am using robots similar to the Turtlebot (Create base + IMU + Asus camera). I have tried modifying the explore/stage launch file (see below), but it didn't work (I don't see anything in the Rviz map, and the robot doesn't move). How can I fix this?
[Edit] Here is the Wiki for the explore package: http://www.ros.org/wiki/explore
[Edit 2] Basically, this url shows what I want to do, but with the PR2 instead of the Turtlebot. I tried following his steps, but I still get no movement in Gazebo and no map in Rviz. http://answers.ros.org/question/33590/map-resolution-issue-between-explore-and-pr2_2dnav_slam/
[Edit 3] Here is the original explore_stage launch file and its rostopic list output:
<launch>
<master auto="start"/>
<param name="/use_sim_time" value="true"/>
<node pkg="stage" type="stageros" name="stage" args="$(find stage)/world/willow-erratic.world" respawn="false" output="screen"/>
<node pkg="gmapping" type="slam_gmapping" name="gmapping" output="screen">
<remap from="scan" to="base_scan" />
<param name="inverted_laser" value="false" />
<param name="maxUrange" value="30.0" />
<param name="particles" value="30" />
<param name="delta" value="0.10" />
<param name="xmin" value="-15.0" />
<param name="xmax" value="15.0" />
<param name="ymin" value="-15.0" />
<param name="ymax" value="15.0" />
<param name="angularUpdate" value="0.5" />
<param name="linearUpdate" value="1.0" />
<param name="map_update_interval" value="1.0" />
<param name="resampleThreshold" value="0.3" />
<param name="llsamplerange" value ="0.05" />
<param name="llsamplestep" value ="0.05" />
<param name="lasamplerange" value ="0.05" />
<param name="lasamplestep" value ="0.05" />
</node>
<include file="$(find explore_stage)/move.xml" />
<include file="$(find explore_stage)/explore_slam.xml" />
</launch>
OUTPUT:
/base_pose_ground_truth
/base_scan
/clock
/cmd_vel
/explore/explore_costmap/inflated_obstacles
/explore/explore_costmap/obstacles
/explore/explore_costmap/parameter_descriptions
/explore/explore_costmap/parameter_updates
/explore/explore_costmap/robot_footprint
/explore/explore_costmap/unknown_space
/explore/explore_planner/NavfnROS_costmap/inflated_obstacles
/explore/explore_planner/NavfnROS_costmap/obstacles
/explore/explore_planner/NavfnROS_costmap/robot_footprint
/explore/explore_planner/NavfnROS_costmap/unknown_space
/explore/explore_planner/plan
/explore/loop_closure_planner/NavfnROS_costmap/inflated_obstacles
/explore/loop_closure_planner/NavfnROS_costmap/obstacles
/explore/loop_closure_planner/NavfnROS_costmap/robot_footprint
/explore/loop_closure_planner/NavfnROS_costmap/unknown_space
/explore/loop_closure_planner/plan
/explore/map
/gmapping/entropy
/map
/map_metadata
/move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles
/move_base/NavfnROS/NavfnROS_costmap/obstacles
/move_base/NavfnROS/NavfnROS_costmap/robot_footprint
/move_base/NavfnROS/NavfnROS_costmap/unknown_space
/move_base/NavfnROS/plan
/move_base/TrajectoryPlannerROS/cost_cloud
/move_base/TrajectoryPlannerROS/global_plan
/move_base/TrajectoryPlannerROS/local_plan
/move_base/TrajectoryPlannerROS/parameter_descriptions
/move_base/TrajectoryPlannerROS/parameter_updates
/move_base/cancel
/move_base/current_goal
/move_base/feedback
/move_base/global_costmap/inflated_obstacles
/move_base/global_costmap/obstacles
/move_base/global_costmap/parameter_descriptions
/move_base/global_costmap/parameter_updates
/move_base/global_costmap/robot_footprint
/move_base/global_costmap/unknown_space
/move_base/goal
/move_base/local_costmap/inflated_obstacles
/move_base/local_costmap/obstacles
/move_base/local_costmap/parameter_descriptions
/move_base/local_costmap/parameter_updates
/move_base/local_costmap/robot_footprint
/move_base/local_costmap/unknown_space
/move_base/parameter_descriptions
/move_base/parameter_updates
/move_base/result
/move_base/status
/move_base_simple/goal
/odom
/rosout
/rosout_agg
/tf
/visualization_marker
/visualization_marker_array
[Edit 4] I modified the launch file and made some progress. Now, I can accurately see the gmapping map in Rviz. However, there are two issues. First, Rviz displays the explore map, but it's blank (ignore the camera height ...
Please provide more information about how it didn't work. We cannot see how it did not work. Please provide enough information to reproduce what you are doing and what you expect it to do and what you observe it doing.
What is the result of
rostopicwhen you run the launch file with stage (only) and how does it compare with the output of rostopic after running the modified launch file?I've done that yesterday to pinpoint the problem, but I wasn't sure what to do next. I'll post the results in my first post in a few minutes.
Alright, I made some progress, but the problem isn't solved yet. I'll clean up my first post because it's filled with useless information.
After the robot turns 90 degrees, are there any messages being sent? You can check useful sounding topics like..
rostopic echo /cmd_vel,rostopic echo /move_base_simple/goal, etc.I only get this in cmd_vel: linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0
And goal outputs: "Is /clock being published?"
I think the problem is related to the 3 warnings I posted above. There might be a wrong parameter, but I don't even know which could cause that.
Can you also check /base_scan topic (rostopic echo /base_scan)?
I get this: "WARNING: no messages received and simulated time is active. Is /clock being published?"
By the way, thanks a lot for all your help so far.