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MAP and Navigation stack

Hello All

I believe I have fulfilled all the requirement of the navigation stack. Now it needs a map, which I have :map.pgm

The question is: how do I pass this map.pgm onto the map server so that the navigation stack could use? any link to turtorial will be great! thanks!

MAP and Navigation stack

Hello All

I believe I have fulfilled all the requirement of the navigation stack. Now it needs a map, which I have :map.pgm

The question is: how do I pass this map.pgm onto the map server so that the navigation stack could use? any link to turtorial will be great! thanks!

roslaunch navigation_for_myRobot move_base.launch:

NODES
  /
    amcl (amcl/amcl)
    map_server (map_server/map_server)
    move_base (move_base/move_base)

auto-starting new master
process[master]: started with pid [32729]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 56edbda0-d139-11e2-83e6-d0df9ada3503
process[rosout-1]: started with pid [32742]
started core service [/rosout]
process[map_server-2]: started with pid [32754]
process[amcl-3]: started with pid [300]
process[move_base-4]: started with pid [392]
[ INFO] [1370805500.399627550]: Subscribed to Topics: 
[ INFO] [1370805500.420689259]: Requesting the map...

[ INFO] [1370805500.423760855]: Still waiting on map...

[ INFO] [1370805501.431160384]: Still waiting on map...

[ INFO] [1370805502.433751810]: Received a 576 X 976 map at 0.025000 m/pix

[ WARN] [1370805507.490780188]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1370805512.548917931]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1370805517.607472316]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

MAP and Navigation stack

Hello All

I believe Hi all!

I have fulfilled all the requirement of set up the navigation stack. Now it needs a map, which And after running:

roslaunch navigation_for_segbot move_base.launch

I receive the following error msg:

error loading <rosparam> tag: 

    file does not exist [/home/abc/fuerte_workspace/sandbox/navigation_for_segbot/params/costmap_common_params.yaml]
XML is <rosparam command="load" file="$(find navigation_for_segbot)/params/costmap_common_params.yaml" ns="global_costmap"/>

Here is my roslaunch file:

<launch>
  <master auto="start"/>

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

  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_omni.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find navigation_for_segbot)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find navigation_for_segbot)/params/costmap_common_params.yaml" command="load" ns="local_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 I have :map.pgm

The question is: how do I pass this map.pgm onto the map server so that the navigation stack could use? any link to turtorial will be great! thanks!

roslaunch navigation_for_myRobot move_base.launch:

NODES
  /
    amcl (amcl/amcl)
    map_server (map_server/map_server)
    move_base (move_base/move_base)

auto-starting new master
process[master]: started with pid [32729]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 56edbda0-d139-11e2-83e6-d0df9ada3503
process[rosout-1]: started with pid [32742]
started core service [/rosout]
process[map_server-2]: started with pid [32754]
process[amcl-3]: started with pid [300]
process[move_base-4]: started with pid [392]
[ INFO] [1370805500.399627550]: Subscribed to Topics: 
[ INFO] [1370805500.420689259]: Requesting the map...

[ INFO] [1370805500.423760855]: Still waiting on map...

[ INFO] [1370805501.431160384]: Still waiting on map...

[ INFO] [1370805502.433751810]: Received a 576 X 976 map at 0.025000 m/pix

[ WARN] [1370805507.490780188]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1370805512.548917931]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1370805517.607472316]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:
have my

costmap_common_params.yaml

inside my params folder inside the packge.

MAP and Navigation stackstack, rosparam error! [help!]

Hi all!

I have set up the navigation stack. And after running:

roslaunch navigation_for_segbot move_base.launch

I receive the following error msg:

error loading <rosparam> tag: 

    file does not exist [/home/abc/fuerte_workspace/sandbox/navigation_for_segbot/params/costmap_common_params.yaml]
XML is <rosparam command="load" file="$(find navigation_for_segbot)/params/costmap_common_params.yaml" ns="global_costmap"/>

Here is my roslaunch file:

<launch>
  <master auto="start"/>

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

  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_omni.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find navigation_for_segbot)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find navigation_for_segbot)/params/costmap_common_params.yaml" command="load" ns="local_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 I have do have my

costmap_common_params.yaml

inside my params folder inside the packge.