Hello @all, I am still having a problem with our custom 4-wheel robot. I can move it with keyboard or ArbotixGUI an create a map, that's fine. With move_base started with launchfile and after click on 2D Nav Goal in RVIZ nothing happened. With additional started amcl node in rviz I see the computed route (blue and red) but the movement goes in wrong direction backwards.

Here my files. Maybe somebody can look over and may see an error. If you need more information or other files, please let me know.

Thank yo for your help

Michael

The robot: fh_base_control.py

#!/usr/bin/env python

# Stand 27.05.2013 mha

import roslib; roslib.load_manifest('fh_basecontroller')
import rospy
import tf
import math
from math import sin, cos, pi
import sys
import os
import time

from geometry_msgs.msg import Quaternion, Twist, Point, Pose, Pose2D, PoseWithCovariance, TwistWithCovariance, Vector3
from nav_msgs.msg import Odometry
from std_msgs.msg import String
from sensor_msgs.msg import JointState
from EposManager.msg import MotorInfo
from EposManager.msg import EPOSControl
import dynamic_reconfigure.server



class FH_Basectrl(object):  
    def __init__(self):

        rospy.init_node('fh_basecontrol')
        rospy.loginfo("Init fh_basecontrol")

        # get values from conmon.launch
        self.ticks_per_meter = float(rospy.get_param("~ticks_per_meter", 1771))
        self.wheel_track = float(rospy.get_param("~wheel_track", 0.445))    # Distance of wheels, (Spurbreite)
        self.rate = float(rospy.get_param("~rate", 10))
        self.odom_angular_scale_correction = float(rospy.get_param("~odom_angular_scale_correction", 0.72))
        self.odom_linear_scale_correction = float(rospy.get_param("~odom_linear_scale_correction", 1))
        self.speed_factor = float(rospy.get_param("~speed_factor", 4000))   # for Eposmanager
        self.odom_frame = rospy.get_param("~odom_frame", "odom")
        self.base_frame = rospy.get_param("~base_frame", "base_link")

        now = rospy.Time.now()
        self.timeold = now
        self.t_delta = rospy.Duration(1.0 / self.rate)
        self.t_next = now + self.t_delta
        self.then = now # time for determining dx/dy

        # reset on start
        self.x = 0
        self.y = 0
        self.theta = 0
        self.d_left = 0.0
        self.d_right = 0.0
        self.motor_position_left_old = 0
        self.motor_position_right_old = 0
        self.motor_position_left_new = 0
        self.motor_position_right_new = 0

        self.init = 1   # init counter: first Motor_Infos will be trashed
        self.waitforMotor_Infos = 0     # wait untill Motor_infos from both motors arrived 

        self._pos2D  = Pose2D()   # 2D Pose for odometrie       

        # subscriptions
        self.cmd_vel_sub = rospy.Subscriber("cmd_vel", Twist, self._HandleVelocityCommand)
        self.motorInfoSubscriber = rospy.Subscriber("motors/Motor_Info", MotorInfo, self._motorInfoCallback)

        # publisher
        self._OdometryTransformBroadcaster = tf.TransformBroadcaster()
        self._OdometryPublisher = rospy.Publisher("odom", Odometry)
        self._EPOSControlPublisher = rospy.Publisher("motors/Motor_Control", EPOSControl)

        self.joint_states_pub = rospy.Publisher('joint_states', JointState)     



    def _motorInfoCallback(self,msg):
        """ Handle EPOS Motorinfo requests """
        self.now = rospy.Time.now()



        if msg.node_id == 1:    
            self.motor_position_left_new = msg.motor_position
            self.waitforMotor_Infos|=0x01


        if msg.node_id == 2:    
            self.motor_position_right_new = msg.motor_position  
            self.waitforMotor_Infos|=0x02


        # when both msg.motor_position arrived: go ahead
        if self.waitforMotor_Infos!=0x03:
            return

        self.waitforMotor_Infos = 0

        now = rospy.Time.now()
        if now > self.t_next:
            dt = now - self.timeold
            dt = dt.to_sec()
            self.timeold = now

        # calculate odometry
        self.d_left = (self.motor_position_left_new - self.motor_position_left_old)/ self.ticks_per_meter
        self.d_right = (self.motor_position_right_new - self.motor_position_right_old)/ self.ticks_per_meter

        # invert the direction of one motor
        self.d_right *= -1. 

        self.motor_position_left_old = self.motor_position_left_new
        self.motor_position_right_old = self.motor_position_right_new 

        # delete first values
        if self.init > 0:
            # rospy.logwarn("####### init:" + str(self.init) )
            self ...