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2014-03-04 09:56:20 -0500	asked a question	Problem with ros navigation I'm trying to run navigation stack on a differential robot without a static map. I just want the robot to move 10 meters forward without colliding into any obstacles. It works well for the first time, when the global frame and the robot frame coincide perfectly, but once the robot has moved, it starts giving the below warnings. It does not do any path planning, instead it just keeps rotating in place. `Request for map failed; trying again... The origin for the sensor at (0.19, 0.00) is out of map bounds. So, the costmap cannot raytrace for it. The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?` Given below is my configuration files: common_costmap.yaml obstacle_range: 1.0 raytrace_range: 3.0 robot_radius: 0.376 inflation_radius: 0.45 max_obstacle_height: 0.9 observation_sources: point_cloud_sensor point_cloud_sensor: {sensor_frame: camera_link, data_type: PointCloud, topic: /pointcloudoutput, marking: true, clearing: true, max_obstacle_height: 0.85} local_costmap.yaml local_costmap: global_frame: /odom robot_base_frame: /base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 6.0 height: 6.0 resolution: 0.05 global_costmap.yaml global_costmap: global_frame: /odom robot_base_frame: /base_link update_frequency: 5.0 static_map: false rolling_window: true
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2014-02-27 14:36:31 -0500	commented question	Ros navigation without static map The robot must operate in an unknown environment, so I cannot have a static map and I'm not running any map server. I have explicitly changed the global frame to /odom.
2014-02-27 11:34:21 -0500	asked a question	Ros navigation without static map I'm trying to run navigation stack on a differential robot without a static map. I just want the robot to move 10 meters forward without colliding into any obstacles. I have followed the given tutorial, but I keep getting the below warnings: Request for map failed; trying again... The origin for the sensor at (0.19, 0.00) is out of map bounds. So, the costmap cannot raytrace for it. The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized? Given below is my configuration files: common_costmap.yaml obstacle_range: 1.0 raytrace_range: 3.0 robot_radius: 0.376 inflation_radius: 0.45 max_obstacle_height: 0.9 observation_sources: point_cloud_sensor point_cloud_sensor: {sensor_frame: camera_link, data_type: PointCloud, topic: /pointcloudoutput, marking: true, clearing: true, max_obstacle_height: 0.85} local_costmap.yaml local_costmap: global_frame: /odom robot_base_frame: /base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 6.0 height: 6.0 resolution: 0.05 global_costmap.yaml global_costmap: global_frame: /odom robot_base_frame: /base_link update_frequency: 5.0 static_map: false rolling_window: true