musiqsoulchild's profile - activity

Does anyone have a custom filter similar to the one Dimitri is talking about?

Does anyone know exactly how to implement a solution like this? I'm not sure where to start. How do I use laser_filter to get rid of 0s and NaNs for maxRange and inf?

Hi,

Does anyone know how to filter out /scan topic data to remove NaN?

Thanks!

I stopped using the odom from the husky and switched to a hokuyo laser scanner. Now I'm using hector_slam and using it to publish odom data.

I tested it without long hallways and didn't have this problem (no NaN in the scan topic), however when it sees a long hallway, the NaN ruins the local costmap. I tried to use the laser scan filters but I don't know how to filter NaN scans.

So I'm using a hokuyo urg 04 lx and for some reason when that sees a long hallway, it displays NaN in the /scan topic. This causes the local costmap to show an obstacle, and if i keep moving straight (and there is a hallway perperdincular), the obstacle keeps moving in parallel because of NaN scan.

Not sure what you mean by clearing observations but when i restart move_base, the costmap works fine and doesn't show obstacles that aren't there. Not sure what parameters to change.

Just brainstorming and was wondering if I just loaded in a presaved map using map_server and remapped the /map topic created from hector slam to something else. Then I could use the localization from hector slam and use a static map. Any comments on this approach?

Any progress on this yet? I'm trying to use the odom data from hector slam with a pre-saved map. Then I will use move_base with it.

Also having the same problem. Anyone have a fix?

Hi All,

I have the navigation stack running on my husky robot. One problem I'm having is that the planned path is always too close to the corners. So when the robot reaches the corner, it gets stuck and starts initiating the recovery behavior (rotating). Anyone know the parameter to change so that the path is not as close to the edges/walls?

Picture can be seen here: http://s30.postimg.org/cqjf48z6p/path...

Thanks

Just came across this post and I'm trying to do the same thing. I can't find the parameter for where the map topic is being published by hector_mapping. I know its /map but not sure how to remap it somewhere else.

Maybe putting <remap from="map" to="maphector"/> in the launch file?

If you are using robot pose ekf, it fuses the imu and encoder data into odom. This is a combination of both the inputs. Gmapping uses that combined odom as an initial guess and then relies on scan registration.

I am having the issue when I'm running gmapping. It says "Scan Matching Failed, using odometry". Not quite sure how to fix that. Searching online we found other people also experiencing similar problems. ( http://answers.ros.org/question/64308... ). The second answers there states that another person had the same issue with the kinect but when he used a laser it worked perfectly. Should we focus on user a laser instead of the kinect? One of the persons suggestions was to slowly move around but when we tried that, the map created was still incorrect. I was able to create a map of a small area but when I move the Husky around too much, the odom error increases and the map created is very inaccurate.

Another thing I have noticed is that when moving the robot around and displaying the transforms on rviz, the odom frame is significantly off from the rest of the transforms. Initially the odom frame starts at the same position as the other frames but as the robot moves around, the distance between odom and other frames increases. Pictures have been attached to show exactly what is happening. Is this supposed to happen because the odom data is so incorrect? Also when running gmapping, for some reason the rate at which the scans are registered is so slow. I updated the gmapping parameter responsible for the update rate however nothing changed.

Here is a video I took yesterday of the husky moving around. It gives a clear picture of the problem. I also attached a picture of the setup. Overall gmapping did a decent job at capturing the setup. However when we tried it in a bigger area, it struggled.

https://www.youtube.com/watch?v=HkTOk...

Since I can't attach files here. I have uploaded them:

http://i58.tinypic.com/105qoe8.png http://i60.tinypic.com/21kkwh4.png http://i57.tinypic.com/35byplj.png http://i62.tinypic.com/j589oy.jpg

Help is appreciated.

Hi all,

I'm new to ROS and have gone through the basic tutorials. I'm trying to get gmapping working on the husky robot in simulation. I want to simulate gmapping using a kinect (which I will be using on later in real life if the simulation works). Right now I have the kinect showing up in gazebo but I don't have anything coming up in rviz (no topics - that i can see).

From what I have gathered from reading online is that I need to modify the base.urdf.xacro file. Can anyone help me and tell me what exactly I need to do to get simulated kinect data, so that I can progress towards mapping a room?

Thanks!

Hi all,

I'm new to ROS and have gone through the basic tutorials. I'm trying to get gmapping working on the husky robot in simulation. I want to simulate gmapping using a kinect (which I will be using on later in real life if the simulation works). Right now I have the kinect showing up in gazebo but I don't have anything coming up in rviz (no topics - that i can see).

From what I have gathered from reading online is that I need to modify the base.urdf.xacro file. Can anyone help me and tell me what exactly I need to do to get simulated kinect data, so that I can progress towards mapping a room?

Thanks!