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Using simple_navigation_goals

Hi,

I am in the process of covering this tutorial in order to familiarize myself with the packages of move_base and actionlib. I am aware that the code presented in the tutorial requires move_base server to be run.

My robot platform is a Powerbot (pioneer robot) by ActivMedia Mobilerobots. I am bringing up the following nodes as a standard procedure in order to have my setup up and running:

  1. Roscore
  2. RosAria package to interface and send commands to the robot's microcontroller
  3. Sicktoolbox_wrapper package, to drive the laser range finder
  4. TF transformation to get the followin tf tree: map -> odom -> base_link -> laser

I am also using the move_base.launch that is presented in this repository. Since this requires a map to be fired up, I am using the gmapping package to create the map.

After I run move_base.launch (from the above repository) and the gmapping.launch file, I followed the rest of the tutorial to be able to run a simple command that moves the robot by 1 metre. When i ran the node simple_navigation_goals, I got the following error:

[ERROR] [1425560182.271687421]: Client [/move_base] wants topic /move_base_simple/goal to have datatype/md5sum [geometry_msgs/PoseStamped/d3812c3cbc69362b77dc0b19b345f8f5], but our version has [move_base_msgs/MoveBaseActionGoal/660d6895a1b9a16dce51fbdd9a64a56b]. Dropping connection.
[ INFO] [1425560187.048041843]: Waiting for the move_base action server to come up
[ INFO] [1425560192.048212940]: Waiting for the move_base action server to come up
[ INFO] [1425560197.048374273]: Waiting for the move_base action server to come up
[ INFO] [1425560202.048498318]: Waiting for the move_base action server to come up

The move_base action server never seemed to "come up" even though I had run the move_base.launch file.

Also, in the terminal tab where I ran move_base.launch, I had the following, with a warning at the end:

[ INFO] [1425560108.210836103]: Using plugin "static"
[ INFO] [1425560108.359553517]: Requesting the map...
[ INFO] [1425560108.700098618]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1425560108.864587000]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1425560108.864730805]: Subscribing to updates
[ INFO] [1425560108.881533417]: Using plugin "inflation"
[ INFO] [1425560109.295686084]: Using plugin "obstacles_laser"
[ INFO] [1425560109.422666966]:     Subscribed to Topics: laser
[ INFO] [1425560109.514106393]: Using plugin "inflation"
[ INFO] [1425560109.778240474]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1425560109.795708585]: Sim period is set to 0.20
[ INFO] [1425560110.262923424]: Recovery behavior will clear layer obstacles
[ INFO] [1425560110.412136262]: Recovery behavior will clear layer obstacles
[ WARN] [1425560386.212503542]: Map update loop missed its desired rate of 4.0000Hz... the loop actually took 0.2584 seconds

Can someone please explain to me:

  1. What kind of move_base launch file do I need to have in order to bring up the move_base action server?
  2. Do I need to run other nodes apart from the ones I mentioned previously?
  3. How can I use and run this tutorial (simple_navigation_goals) without having to run gmapping?

Thanks!

Using simple_navigation_goals

Hi,

I am in the process of covering this tutorial in order to familiarize myself with the packages of move_base and actionlib. I am aware that the code presented in the tutorial requires move_base server to be run.

My robot platform is a Powerbot (pioneer robot) by ActivMedia Mobilerobots. I am bringing up the following nodes as a standard procedure in order to have my setup up and running:

  1. Roscore
  2. RosAria package to interface and send commands to the robot's microcontroller
  3. Sicktoolbox_wrapper package, to drive the laser range finder
  4. TF transformation to get the followin tf tree: map -> odom -> base_link -> laser

I am also using the move_base.launch that is presented in this repository. Since this requires a map to be fired up, I am using the gmapping package to create the map.

After I run move_base.launch (from the above repository) and the gmapping.launch file, I followed the rest of the tutorial to be able to run a simple command that moves the robot by 1 metre. When i ran the node simple_navigation_goals, I got the following error:

[ERROR] [1425560182.271687421]: Client [/move_base] wants topic /move_base_simple/goal to have datatype/md5sum [geometry_msgs/PoseStamped/d3812c3cbc69362b77dc0b19b345f8f5], but our version has [move_base_msgs/MoveBaseActionGoal/660d6895a1b9a16dce51fbdd9a64a56b]. Dropping connection.
[ INFO] [1425560187.048041843]: Waiting for the move_base action server to come up
[ INFO] [1425560192.048212940]: Waiting for the move_base action server to come up
[ INFO] [1425560197.048374273]: Waiting for the move_base action server to come up
[ INFO] [1425560202.048498318]: Waiting for the move_base action server to come up

The move_base action server never seemed to "come up" even though I had run the move_base.launch file.

Also, in the terminal tab where I ran move_base.launch, I had the following, with a warning at the end:

[ INFO] [1425560108.210836103]: Using plugin "static"
[ INFO] [1425560108.359553517]: Requesting the map...
[ INFO] [1425560108.700098618]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1425560108.864587000]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1425560108.864730805]: Subscribing to updates
[ INFO] [1425560108.881533417]: Using plugin "inflation"
[ INFO] [1425560109.295686084]: Using plugin "obstacles_laser"
[ INFO] [1425560109.422666966]:     Subscribed to Topics: laser
[ INFO] [1425560109.514106393]: Using plugin "inflation"
[ INFO] [1425560109.778240474]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1425560109.795708585]: Sim period is set to 0.20
[ INFO] [1425560110.262923424]: Recovery behavior will clear layer obstacles
[ INFO] [1425560110.412136262]: Recovery behavior will clear layer obstacles
[ WARN] [1425560386.212503542]: Map update loop missed its desired rate of 4.0000Hz... the loop actually took 0.2584 seconds

Can someone please explain to me:

  1. What kind of move_base launch file do I need to have in order to bring up the move_base action server?
  2. Do I need to run other nodes apart from the ones I mentioned previously?
  3. How can I use and run this tutorial (simple_navigation_goals) without having to run gmapping?

Thanks!EDIT: UPDATE:

This is the procedure that I am following to bring up my setup: 1. roscore 2. rosrun rosaria RosAria _port:=/dev/ttyS0 (runs the rosaria node to drive the robot) 3. rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyS1 4. rosrun transform transform (TF code brought from this tutorial 5. roslaunch gmapping.launch (gmapping.launch 6. roslaunch move_base_mapless_demo.launch (obtained from the repository link I posted above) 7. rosrun simple_navigation_goals simple_navigation_goals (I changed the code a bit so that I would know where it is stopping - see code here

On following this procedure with the files I've posted, the result is this:

Move_base launch file tab: The message "Got new plan" was seen

simple_navigation_goals node tab: From the ROS_INFO messages I've added to the code I could see that the program halts at ac.waitForResult() and in fact, the robot never moves forward and therefore the goal is never reached, i.e. robot is never "done".

Does this have to do with the fact that I am using RosAria to drive the robot? If so, to which frame_id should I publish the goal instruction?

Using simple_navigation_goals

Hi,

I am in the process of covering this tutorial in order to familiarize myself with the packages of move_base and actionlib. I am aware that the code presented in the tutorial requires move_base server to be run.

My robot platform is a Powerbot (pioneer robot) by ActivMedia Mobilerobots. I am bringing up the following nodes as a standard procedure in order to have my setup up and running:

  1. Roscore
  2. RosAria package to interface and send commands to the robot's microcontroller
  3. Sicktoolbox_wrapper package, to drive the laser range finder
  4. TF transformation to get the followin tf tree: map -> odom -> base_link -> laser

I am also using the move_base.launch that is presented in this repository. Since this requires a map to be fired up, I am using the gmapping package to create the map.

After I run move_base.launch (from the above repository) and the gmapping.launch file, I followed the rest of the tutorial to be able to run a simple command that moves the robot by 1 metre. When i ran the node simple_navigation_goals, I got the following error:

[ERROR] [1425560182.271687421]: Client [/move_base] wants topic /move_base_simple/goal to have datatype/md5sum [geometry_msgs/PoseStamped/d3812c3cbc69362b77dc0b19b345f8f5], but our version has [move_base_msgs/MoveBaseActionGoal/660d6895a1b9a16dce51fbdd9a64a56b]. Dropping connection.
[ INFO] [1425560187.048041843]: Waiting for the move_base action server to come up
[ INFO] [1425560192.048212940]: Waiting for the move_base action server to come up
[ INFO] [1425560197.048374273]: Waiting for the move_base action server to come up
[ INFO] [1425560202.048498318]: Waiting for the move_base action server to come up

The move_base action server never seemed to "come up" even though I had run the move_base.launch file.

Also, in the terminal tab where I ran move_base.launch, I had the following, with a warning at the end:

[ INFO] [1425560108.210836103]: Using plugin "static"
[ INFO] [1425560108.359553517]: Requesting the map...
[ INFO] [1425560108.700098618]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1425560108.864587000]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1425560108.864730805]: Subscribing to updates
[ INFO] [1425560108.881533417]: Using plugin "inflation"
[ INFO] [1425560109.295686084]: Using plugin "obstacles_laser"
[ INFO] [1425560109.422666966]:     Subscribed to Topics: laser
[ INFO] [1425560109.514106393]: Using plugin "inflation"
[ INFO] [1425560109.778240474]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1425560109.795708585]: Sim period is set to 0.20
[ INFO] [1425560110.262923424]: Recovery behavior will clear layer obstacles
[ INFO] [1425560110.412136262]: Recovery behavior will clear layer obstacles
[ WARN] [1425560386.212503542]: Map update loop missed its desired rate of 4.0000Hz... the loop actually took 0.2584 seconds

Can someone please explain to me:

  1. What kind of move_base launch file do I need to have in order to bring up the move_base action server?
  2. Do I need to run other nodes apart from the ones I mentioned previously?
  3. How can I use and run this tutorial (simple_navigation_goals) without having to run gmapping?

EDIT: UPDATE:

This is the procedure that I am following to bring up my setup: 1. roscore 2. rosrun rosaria RosAria _port:=/dev/ttyS0 (runs the rosaria node to drive the robot) 3. rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyS1 4. rosrun transform transform (TF code brought from this tutorial 5. roslaunch gmapping.launch (gmapping.launch 6. roslaunch move_base_mapless_demo.launch (obtained from the repository link I posted above) 7. rosrun simple_navigation_goals simple_navigation_goals (I changed the code a bit so that I would know where it is stopping - see code here

On following this procedure with the files I've posted, the result is this:

Move_base launch file tab: The message "Got new plan" was seen

simple_navigation_goals node tab: From the ROS_INFO messages I've added to the code I could see that the program halts at ac.waitForResult() and in fact, the robot never moves forward and therefore the goal is never reached, i.e. robot is never "done".

Does this have to do with the fact that I am using RosAria to drive the robot? If so, to which frame_id should I publish the goal instruction?

EDIT 2: I tried to echo /RosAria/cmd_vel in order to see whether the velocity commands were getting through to the driver, but I got nothing. Clearly, the velocity commands and not being published to /RosAria/cmd_vel.