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Problem running stage navigation tutorial

asked 2011-02-23 18:26:51 -0600

szokei gravatar image

updated 2011-03-05 12:48:38 -0600

mmwise gravatar image

Hello ,

I'm trying to execute the code from "Tutorials/stage and navigation stack", roslaunch awesomeros robot.launch

started roslaunch server http://istvan-System-Product-Name:56169/

SUMMARY

PARAMETERS * /use_sim_time * /move_base_node/global_costmap/observation_sources * /amcl/gui_publish_rate * /move_base_node/local_costmap/origin_y * /move_base_node/local_costmap/origin_x * /move_base_node/local_costmap/update_frequency * /move_base_node/local_costmap/origin_z * /move_base_node/global_costmap/base_scan/max_obstacle_height * /move_base_node/global_costmap/origin_z * /move_base_node/local_costmap/base_scan/marking * /move_base_node/local_costmap/observation_sources * /move_base_node/TrajectoryPlannerROS/vx_samples * /move_base_node/local_costmap/base_scan/raytrace_range * /amcl/recovery_alpha_slow * /move_base_node/local_costmap/base_scan/clearing * /move_base_node/global_costmap/mark_threshold * /amcl/laser_z_short * /move_base_node/local_costmap/max_obstacle_height * /move_base_node/TrajectoryPlannerROS/sim_time * /move_base_node/TrajectoryPlannerROS/max_vel_x * /amcl/laser_z_max * /amcl/laser_z_rand * /move_base_node/TrajectoryPlannerROS/acc_lim_th * /move_base_node/global_costmap/base_scan/observation_persistence * /move_base_node/local_costmap/inflation_radius * /move_base_node/global_costmap/map_type * /move_base_node/TrajectoryPlannerROS/acc_lim_y * /move_base_node/TrajectoryPlannerROS/acc_lim_x * /move_base_node/global_costmap/static_map * /move_base_node/global_costmap/base_scan/data_type * /move_base_node/local_costmap/base_scan/min_obstacle_height * /move_base_node/global_costmap/footprint * /amcl/laser_lambda_short * /move_base_node/TrajectoryPlannerROS/sim_granularity * /move_base_node/local_costmap/base_scan/observation_persistence * /amcl/laser_max_beams * /move_base_node/local_costmap/z_resolution * /move_base_node/TrajectoryPlannerROS/min_vel_x * /move_base_node/local_costmap/map_type * /move_base_node/global_costmap/lethal_cost_threshold * /move_base_node/TrajectoryPlannerROS/heading_lookahead * /amcl/odom_model_type * /amcl/laser_sigma_hit * /amcl/recovery_alpha_fast * /move_base_node/global_costmap/inflation_radius * /move_base_node/global_costmap/z_voxels * /move_base_node/local_costmap/base_scan/data_type * /move_base_node/local_costmap/transform_tolerance * /move_base_node/global_costmap/robot_base_frame * /move_base_node/global_costmap/transform_tolerance * /move_base_node/local_costmap/global_frame * /move_base_node/local_costmap/rolling_window * /move_base_node/TrajectoryPlannerROS/dwa * /amcl/odom_alpha5 * /amcl/odom_alpha1 * /amcl/odom_alpha2 * /amcl/odom_alpha3 * /amcl/odom_alpha4 * /move_base_node/local_costmap/width * /stageros/base_watchdog_timeout * /move_base_node/global_costmap/base_scan/clearing * /move_base_node/local_costmap/publish_frequency * /amcl/max_particles * /move_base_node/local_costmap/height * /move_base_node/local_costmap/base_scan/obstacle_range * /move_base_node/local_costmap/static_map * /move_base_node/global_costmap/cost_scaling_factor * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance * /amcl/min_particles * /move_base_node/global_costmap/global_frame * /move_base_node/controller_frequency * /move_base_node/local_costmap/cost_scaling_factor * /move_base_node/TrajectoryPlannerROS/max_rotational_vel * /amcl/laser_model_type * /move_base_node/global_costmap/publish_frequency * /move_base_node/TrajectoryPlannerROS/goal_distance_bias * /amcl/transform_tolerance * /amcl/kld_err * /amcl/resample_interval * /move_base_node/global_costmap/update_frequency * /move_base_node/global_costmap/base_scan/obstacle_range * /move_base_node/local_costmap/mark_threshold * /move_base_node/local_costmap/base_scan/max_obstacle_height * /move_base_node/TrajectoryPlannerROS/vtheta_samples * /move_base_node/local_costmap/robot_base_frame * /move_base_node/local_costmap/lethal_cost_threshold * /move_base_node/global_costmap/z_resolution * /move_base_node/TrajectoryPlannerROS/holonomic_robot * /move_base_node/local_costmap/footprint * /move_base_node/global_costmap/rolling_window * /amcl/laser_z_hit * /move_base_node/global_costmap/base_scan/expected_update_rate * /move_base_node/global_costmap/base_scan/raytrace_range * /amcl/update_min_d * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel * /move_base_node/global_costmap/unknown_threshold * /move_base_node/TrajectoryPlannerROS/path_distance_bias * /move_base_node/global_costmap/max_obstacle_height * /amcl/odom_frame_id * /move_base_node/local_costmap/unknown_threshold * /move_base_node/global_costmap/base_scan/marking * /move_base_node/NavfnROS/allow_unknown * /move_base_node/global_costmap/base_scan/min_obstacle_height * /move_base_node/local_costmap/z_voxels * /move_base_node/local_costmap/resolution * /move_base_node/footprint_padding * /move_base_node/TrajectoryPlannerROS/backup_vel * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist * /amcl/kld_z * /move_base_node/global_costmap/footprint_padding * /move_base_node/local_costmap/base_scan/expected_update_rate * /move_base_node/local_costmap/footprint_padding * /amcl/update_min_a * /amcl/laser_likelihood_max_dist * /move_base_node/local_costmap/publish_voxel_map * /amcl/initial_pose_x * /amcl/initial_pose_y * /move_base_node/TrajectoryPlannerROS/occdist_scale * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance

NODES / move_base_node (move_base/move_base) map_server (map_server/map_server) stageros (stage/stageros) amcl (amcl/amcl) /local_costmap/ voxel_grid_throttle (topic_tools/throttle)

ROS_MASTER_URI=http://istvan-System-Product-Name:11311/

core service [/rosout] found process[voxel_grid_throttle-1]: started with pid [10804] process[move_base_node-2]: started with pid [10805] process[map_server-3]: started with pid [10806] process[stageros-4]: started with pid [10807] process[amcl-5]: started with pid [10814] err: /opt/ros/cturtle/stacks/ros_tutorials/awesomeros/world/willow.world:21 : syntax error 2 (/tmp/buildd/ros-cturtle-simulator-stage-1.2.4/debian/ros-cturtle-simulator-stage/opt/ros/cturtle/stacks/simulator_stage/stage/build/Stage-3.2.2-Source/libstage/worldfile.cc ParseTokenWord)

Thank you.

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answered 2011-02-23 18:39:47 -0600

Eric Perko gravatar image

updated 2011-02-23 18:42:03 -0600

First off, the move_base_stage package is deprecated. You should look into the navigation_stage package for newer example launch files.

Now, for your actual problem. That world file in the tutorial is likely an old, out of date World file format. To fix this, try running the upgrade-world.sh file available in the stage package. For example,

rosrun stage upgrade-world.sh willow.world willow-new.world

and then try using willow-new.world instead of willow.world.

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Asked: 2011-02-23 18:26:51 -0600

Seen: 974 times

Last updated: Mar 05 '11