move_base warn start position, out out the global cost map [closed]

asked 2013-06-14 14:59:10 -0500

Gazer gravatar image

Hello all

running the navigation stack give me the following errors:

The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

I think I should have all the parameters setup already:

/amcl/parameter_descriptions
/amcl/parameter_updates
/amcl_pose
/base_scan/scan
/camera_info
/clock
/cmd_vel
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/image_raw
/image_raw/compressed
/image_raw/compressed/parameter_descriptions
/image_raw/compressed/parameter_updates
/image_raw/compressedDepth
/image_raw/compressedDepth/parameter_descriptions
/image_raw/compressedDepth/parameter_updates
/image_raw/theora
/image_raw/theora/parameter_descriptions
/image_raw/theora/parameter_updates
/initialpose
/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
/particlecloud
/point_cloud_sensor
/rosout
/rosout_agg
/scan
/set_hfov
/set_joint_trajectory
/set_update_rate
/slam_gmapping/entropy
/tf

And the problem is probably related to global cost-map, here are my files:

1) launch file for move_base:

<launch>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find navigation_for_segbot)/empty_map.yaml"/>

  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />
  <include file="$(find erratic_navigation)/navigation_slam/slam_gmapping.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

    <rosparam file="$(find navigation_for_segbot)/params/base_global_planner_params.yaml" command="load" ns="local_costmap" />

   <rosparam file="$(find navigation_for_segbot)/params/base_global_planner_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find navigation_for_segbot)/params/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_for_segbot)/params/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_for_segbot)/params/base_local_planner_params.yaml" command="load"/>


  </node>
</launch>

and 2) my global cost map params:

global_costmap:
  global_frame: /map
  robot_base_frame: base_footprint
  update_frequency: 5.0
  static_map: true

3) my overall planner params:image: willow-empty-0.05.pgm resolution: 0.050000 origin: [0.0, 0.0, 0.0] negate: 0 occupied_thresh: 0.65 free_thresh: 0.196

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.4, 0.4], [0.4, -0.4], [-0.4, 0.4], [-0.4, -0.4]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser_scan_sensor point_cloud_sensor

laser_scan_sensor: {sensor_frame: base_footprint, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

4) my map.yaml file:

image: willow-empty-0.05.pgm
resolution: 0.050000
origin: [0.0, 0.0, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

5) my local planner costmap:

local_costmap:
  global_frame: /map
  robot_base_frame: base_footprint
  update_frequency: 6.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 200.0
  height: 200.0
  resolution: 0.05

transform_tolerance: 0.8 # seconds

Could you guys please give me some idea, plz?

Thank you

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-09-18 03:11:27.460314

Comments

HI there! I'm having exactly the same problem! have you managed to fix it?

Cheers, Hugo

Hugo Sardinha gravatar imageHugo Sardinha ( 2016-06-20 09:18:03 -0500 )edit