carsten's profile - activity

Hello dornhege, after your reply I started my computer again and it worked. But after shutting down the move-base node and starting it again (doing so a few times) the problem occured again. But it is not easy reproducible. My first impression is that there could something wrong in the gazebo plugin which produces this output

Dbg Plugin model name: mobile_base
[ INFO] [1390494712.717836162, 0.010000000]: Will publish tf. [mobile_base]
[ INFO] [1390494712.722853967, 0.010000000]: GazeboRosKobuki plugin ready to go!   [mobile_base]

I have to restart the gazebo simulation and in most cases navigation launches successfully.

I will try to track this problem in future. But up to this point it is annoying because it worked without any problems before the upgrade.

Hello,

after upgrading hydro I'm having the following problem:

the tf-node shows misbehavoiur even with the default launch-files i.e. I'm running the gazebo-launch files for turtlebot-navigation

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/path/to_my_map.yaml

Brings up the following Warning

[ WARN] [1390486537.516455089, 723.580000000]: Waiting on transform from base_footprint to map to become available before running costmap, tf error:

A rostopic list shows

/amcl/parameter_descriptions
/amcl/parameter_updates
/amcl_pose
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/cmd_vel_mux/active
/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/initialpose
/joint_states
/kobuki_safety_controller/disable
/kobuki_safety_controller/enable
/kobuki_safety_controller/reset
/map
/map_metadata
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/commands/velocity
/mobile_base/events/bumper
/mobile_base/events/cliff
/mobile_base/events/wheel_drop
/mobile_base/sensors/bumper_pointcloud
/mobile_base/sensors/core
/mobile_base/sensors/imu_data
/mobile_base_nodelet_manager/bond
/move_base/current_goal
/move_base/goal
/move_base_simple/goal
/navigation_velocity_smoother/parameter_descriptions
/navigation_velocity_smoother/parameter_updates
/navigation_velocity_smoother/raw_cmd_vel
/odom
/particlecloud
/rosout
/rosout_agg
/scan
/tf
/tf_static

In rvis the map is shown. Maybe stupid question the map is published under the topic "/map" ... and tf seems to look after "map". Did somebody experience the same problems during the last days after the upgrade?

Edit: Shouldn't be there a base_footprint topic?

Had the same problem after upgrading hydro-packages. Now solved. Thank you.

Hi, thanks for your hint! In case there will occur any specific question I will open a new question/thread.

I was hoping to get some feedback of Miguel if he succeed by following this approach and I was also interested in Eitan's (Marder-Eppstein?) opinion who is the author of nearly all files I'm dealing with.

Hello, I'm trying something similar and I'm wondering if you made some progress with your switching idea. I want to use two different local_planners (pose_folllower and default base_local_planner/trajectory planner). In case the pose_follower recognizes an obstacle by checking the next velocity command

[ WARN] [1390303422.909850185, 47.940000000]: Invalid Trajectory 0.100000, 0.000000, 0.036346, cost: -1.000000 [ERROR] [1390303422.909936801, 47.940000000]: Not legal (0.10, 0.00, 0.04)

I would like to use the default local_planner to navigate to a pose on the global plan which is free (not rated with high costs). Kind regards.