# Revision history [back]

### problem with move_base

Hi all,

I'm having trouble with the "simple goals sending" in the navigation stack. I set up the navigation stack as suggested in the tutorials. I'm using a laser scanner and amcl to localize in a known environment. The navigation stack (without the "simple goals sending" action) is working well and I'm able to display on rviz the map, the robot position and the related particle clouds, costmaps etc and the localization is fine if I teleop the robot. However, If I create and run a node as described in the navigation tutorial SendingSimpleGoals I got the following behaviors:

1. 99% of tests, the MoveBaseClient cannot connect to the server (I got the "Waiting for the move_base action server to come up" message)

2. In the remaining 1% of the tests which happens only if (but not if) the simple_navigation_goals node is run before starting the navigation stack, MoveBaseClient managed to connect to the server (but after awhile), then sendGoal is invoked but no motion, and no return from rostopic echo /move_base/goal.

Any suggestion?

Many thanks

### problem with move_basemove_base and server connection

Hi all,

I'm having trouble with the "simple goals sending" in the navigation stack. I set up the navigation stack as suggested in the tutorials. I'm using a laser scanner and amcl to localize in a known environment. The navigation stack (without the "simple goals sending" action) is working well and I'm able to display on rviz the map, the robot position and the related particle clouds, costmaps etc and the localization is fine if I teleop the robot. However, If I create and run a node as described in the navigation tutorial SendingSimpleGoals I got the following behaviors:

1. 99% of tests, the MoveBaseClient cannot connect to the server (I got the "Waiting for the move_base action server to come up" message)

2. In the remaining 1% of the tests which happens only if (but not if) the simple_navigation_goals node is run before starting the navigation stack, MoveBaseClient managed to connect to the server (but after awhile), then sendGoal is invoked but no motion, and no return from rostopic echo /move_base/goal.

Any suggestion?

Many thanks

### problem with move_base and server connection

Hi all,

I'm having trouble with the "simple goals sending" in the navigation stack. I set up the navigation stack as suggested in the tutorials. I'm using a laser scanner and amcl to localize in a known environment. The navigation stack (without the "simple goals sending" action) is working well and I'm able to display on rviz the map, the robot position and the related particle clouds, costmaps etc and the localization is fine if I teleop the robot. However, If I create and run a node as described in the navigation tutorial SendingSimpleGoals I got the following behaviors:

1. 99% of tests, the MoveBaseClient cannot connect to the server (I got the "Waiting for the move_base action server to come up" message)message for minutes).

2. In the remaining 1% of the tests which happens only if (but not if) the simple_navigation_goals node is run before starting the navigation stack, MoveBaseClient managed to connect to the server (but after awhile), then sendGoal is invoked but no motion, and no return from rostopic echo /move_base/goal.

Am I missing something? Any suggestion?

Many thanks