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move_base start position is off the global costmap

asked 2013-07-01 22:21:56 -0600

updated 2013-07-18 03:01:00 -0600

Hi all,

after following this tutorial http://www.ros.org/wiki/navigation/Tutorials/RobotSetup#Global_Configuration and run rviz when I try to give a 2d nav goal in the map the shell output this error:

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

someone have any idea what I'm doing wrong?

thanks for your attention

EDIT 1: thanks @ayush_dewan for your answer, I checked my tf tree typing

rosrun rqt_tf_tree rqt_tf_tree

image description

and the rqt_graph

image description

I see that the map server is not connected with the main tree but it is in the tf tree.

I don't understand if is a map trouble (type of the map, resolution,...) or a tf issue.

Edit 2: Tryed the tf_echo command with the following output:

rosrun tf tf_echo /map /base_link
At time 1374093690.903
- Translation: [-0.002, 0.006, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.003, 1.000]
            in RPY [0.000, -0.000, 0.005]

rosrun tf tf_echo /map /odom
At time 1374093829.437
- Translation: [-0.224, 0.066, 0.000]

rosrun tf tf_echo /odom /base_link
At time 1374093875.303
- Translation: [0.224, -0.051, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.022, 1.000]
            in RPY [0.000, -0.000, 0.045]
- Rotation: in Quaternion [0.000, 0.000, -0.020, 1.000]
            in RPY [0.000, 0.000, -0.039]

it seems to me that all is going well, or better no error is coming out.

Could you please specify a little more where the issue could be? Thanks

EDIT 3:thanks @ahendrix, this is my map.yalm code

image: map01.png
resolution: 0.02
origin: [-5.0, -5.0, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

and this the Rviz output image description

I hope this could be helpful.

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Comments

Hello Daniel, Did you solve this problem? I have an identical problem too

Andromeda gravatar imageAndromeda ( 2014-10-08 08:44:53 -0600 )edit

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answered 2013-07-17 20:05:22 -0600

ahendrix gravatar image

Are you using rviz to command the navigation stack? If not, you may want to open rviz and set a starting pose for the robot that is on the map. Take a look at: http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack

If that doesn't work, can you post the size and resolution of your map?

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Comments

I'm using Rviz, set the 2D pose estimete and when I try to set the 2D nav goal the error appears. I download a test map from somewhere, in the last edit of the question you will find the map.yalm code

danielq gravatar imagedanielq ( 2013-07-18 02:52:24 -0600 )edit

How big is your robot's footprint?

ahendrix gravatar imageahendrix ( 2013-07-18 07:16:38 -0600 )edit

Something like 500 x 450 mm, I created the robot model in solidworks and exported in ros by passing and scaling in blender

danielq gravatar imagedanielq ( 2013-07-18 13:16:11 -0600 )edit

You may want to enable a display of your robot's footprint (add a Polygon display to rviz) and make sure the entire footprint fits on the map.

ahendrix gravatar imageahendrix ( 2013-07-18 15:02:22 -0600 )edit

Thanks for your answer, I added the display and all the footprint (a 50cm diameter circle) fits inside the map.

danielq gravatar imagedanielq ( 2013-07-18 20:19:36 -0600 )edit
1

answered 2013-07-01 23:49:31 -0600

updated 2013-07-17 18:14:50 -0600

Try to check the the TF tree and see the position of ur robot with respect to a fixed frame which is either map or world and check whether all transformation have been defined correctly or not.

Ur odom id defined in correct frame. Echo /odom and see the position of robot or use tf_echo to check the transformation values between map and base_link, map and odom, odom and base_link.

Using this u might be able to debug where transformation is going wrong.

Hope this helps

EDIT: Since all the transformation looks good, one thing you can try is to check the frame id attached to goal position...maybe that could help.

PS:add terminal output of tf_echo

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Asked: 2013-07-01 22:21:56 -0600

Seen: 5,012 times

Last updated: Jul 18 '13