physicsex's profile - activity

Thank you! But I think it knows where it is because it can go for a goal sometimes but if the goal is a little far away I can't go for it and just stand there ,also sometimes it just go around. I don't know why.

Do you mean that the goal which I set is in the unknown space? I have set that the goal should be in the free space and in the RVIZ I can't find any difficult to plan it ,please look at the picture https://docs.google.com/drawings/d/17D6umDL43akGIcRJbAAy27SnUKy9LlGorETI3w04nWY/edit?usp=sharing

Hello everyone, I am using the explore stage(wiki.ros.org/explore) and motified it with multi-robots. (1)When I run it I always find that when the robot's goal is very far and behand the robot ,I will not move. (2)Also, the robot always goes into the inflation area and do not move for the goal, I have read the navigation guide but maybe I can't understand some of them ,So I want to find some help here for the reason why it do not move this is the details: docs.google.com/drawings/d/17D6umDL43akGIcRJbAAy27SnUKy9LlGorETI3w04nWY/edit?usp=sharing

  controller_frequency: 10.0
  TrajectoryPlannerROS:
  transform_tolerance: 0.3
  world_model: costmap

  acc_lim_x: 0.5
  acc_lim_y: 0.5
  acc_lim_th: 1.0
  max_vel_x: 0.65
  min_vel_x: 0.10
  max_rotational_vel: 2.5
  min_in_place_rotational_vel: 0.001
  escape_vel: -0.1
  holonomic_robot: false
  #y_vels: [-0.3, -0.1, 0.1, 0.3]

  yaw_goal_tolerance: 0.05
  xy_goal_tolerance: 0.15
  latch_xy_goal_tolerance: false

  sim_time: 2.7
  sim_granularity: 0.05
  vx_samples: 8
  vtheta_samples: 20

  meter_scoring: true
  occdist_scale: 0.01
  heading_lookahead: 0.325
  heading_scoring: false
  heading_scoring_timestep: 0.8
  dwa: true

  oscillation_reset_dist: 0.1

  goal_distance_bias: 0.05 #0.4
  path_distance_bias: 0.07 #0.3
  escape_reset_dist: 0.15
  escape_reset_theta: 0.30
  simple_attractor: false`

and the costmap_common

 map_type: costmap
transform_tolerance: 0.3
obstacle_range: 7.9
max_obstacle_height: 2.0
raytrace_range: 7.9

robot_radius: 0.15 #0.10  
inflation_radius: 0.5 #0.12

cost_scaling_factor: 15.0
lethal_cost_threshold: 100
track_unknown_space: true

Thank you very much!

so the map generation process comes from the code of the costmap? does costmap used gmapping or other estimation methold of the robot?Then the sensor data come from the Stage and it don't have any noise. Thank you very much!

Thank you very much for the explaining, but what I mean is not for the reason of the pixelization problem, I upload a picture for this problem https://docs.google.com/document/d/1h9QVhTbo5x0NvXeEBGWSJZVCrNJ1-ZXSdpWzx7Hx6vM/edit?usp=sharing you can see on the walls there are some white blocks which I want to erase .

hello everyone,I am new in ROS and I'am studing with explore package. wiki.ros.org/explore. I run the code without problems. But When I use the rviz to see the explored map,I find that after the costmap got laser scan's data, as soon as the obstacle is detected, it has a probability to be a Free Space while if the truth is Obstacle, that made the wall(in the rviz ) it detected has some sawtooth shape. So I want to ask that how can the map mapping the stage's map exactly and I want it mapping without noise,which parameters should I change?

Thank you every much !

hello! I am a newer in ROS and using ubuntu12.04 on groovy. I've tried to integrate ROS with eclipse. I run "make eclipse-project" in my package directory, however, i got an error "make: * No rule to make target `eclipse-project'. Stop. Then I do as to add include $(shell rospack find mk)/cmake.mk in my Makefile but I got as this :

   mv Makefile Makefile.ros
if ! (cmake -G"Eclipse CDT4 - Unix Makefiles" -Wno-dev . && rm Makefile && rm CMakeCache.txt && rm -rf CMakeFiles); then mv Makefile.ros Makefile && echo "**ERROR building Eclipse project!**" && false; fi
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Could not determine Eclipse version, assuming at least 3.6 (Helios). Adjust CMAKE_ECLIPSE_VERSION if this is wrong.
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.3")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/wangbin/groovy/sandbox/exploration
mv Makefile.ros Makefile
mv .project .project-cmake
awk -f /opt/ros/groovy/share/mk/eclipse.awk .project-cmake > .project
rm .project-cmake
python /opt/ros/groovy/share/mk/make_pydev_project.py
Creating pydev project for package 'exploration'
Traceback (most recent call last):
  File "/opt/ros/groovy/share/mk/make_pydev_project.py", line 39, in <module>
    import roslib; roslib.load_manifest(PKG)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
    sys.path = _generate_python_path(package_name, _rospack) + sys.path
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
    m = rospack.get_manifest(pkg)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 136, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 175, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 167, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: exploration
ROS path [0]=/opt/ros/groovy/share/ros
ROS path [1]=/home/wangbin/groovy/sandbox
ROS path [2]=/opt/ros/groovy/stacks/knowrob_tutorials
ROS path [3]=/opt/ros/groovy/stacks/knowrob_human
ROS path [4]=/opt/ros/groovy/stacks/knowrob_gui
ROS path [5]=/opt/ros/groovy/stacks/knowrob_dev
ROS path [6]=/opt/ros/groovy/stacks/knowrob_addons
ROS path [7]=/opt/ros/groovy/stacks/ias_common
ROS path [8]=/opt/ros/groovy/stacks/knowrob
ROS path [9]=/opt/ros/groovy/share
ROS path [10]=/opt/ros/groovy/stacks
ROS path [11]=/home/wangbin/groovy_ws/sandbox/rce/test
ROS path [12]=home/wangbin/groovy_ws/sandbox/svn/rl-texplore-ros-pkg
make: *** [eclipse-project] Error 1