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2016-05-28 15:55:59 -0500 marked best answer how to use the frontier_exploration package

Hello I am currently working on a project where a turtlebot robot have to create a map of a room without human intervention. I am working with Ubuntu 14.04 LTS with ROS Indigo. I found the Frontier_Exploration package which, if i understood the documentation well, should allow me to do this mapping, but i was not able to make it work.

So i had some questions :

  • What nodes and topics does the global_map.launch file need in order to works ?
  • How to tell the turtlebot to start the exploration ?

EDIT : One last question, i just wanted to know where you have to change the obstacle's width. For now my robot cant go though all the room i want to map because there is 2 wall too close one to each other, and the package consider the robot cant go though ( even when it is amply possible ). I tried changing the inflation_radius parameter in global_map.launch (frontier_exploration/launch ) and in costmap_common_params.yaml (turtlebot_navigation/param ) but it don't change the radius.

EDIT 2 : Solved it, the parameter to change was indeed inflation_radius, but i forgot to change it in the laser/costman_comon_param.yaml

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2016-01-04 01:23:30 -0500 commented answer nav2d Navigator failing to create path

You have to set thoses parameters inside the mapper.yaml or ros.yaml file you use if i remember correctly, will re-check when i have my robot available.

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2015-10-23 04:42:23 -0500 commented answer nav2d StartExploration finished without doing anything

I am currently using nav2d installed from apt-get, with a modified .launch file based on tutorial3.launch Later i installed the source for nav2d_navigator and nav2d_operator in order to add some debug messages, but i am basically using the apt-get installed package

2015-10-23 03:49:46 -0500 commented answer nav2d StartExploration finished without doing anything

Tried to change the strategy, and same results again.

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2015-10-22 06:40:54 -0500 commented answer nav2d StartExploration finished without doing anything

Thanks for taking time to help me. Tried on a obstacle free environment and after moving to different positions, still having the same problem.

2015-10-22 04:33:54 -0500 commented answer nav2d StartExploration finished without doing anything

added both maps (pgm and yaml ) to the initial question

2015-10-22 03:36:26 -0500 commented answer nav2d StartExploration finished without doing anything

for RVIZ yes, it works well with manually chosen goals. And for the log level, i have this debug log when i try to launch the exploration :http://hpics.li/a24def6

2015-10-22 02:40:41 -0500 commented answer nav2d StartExploration finished without doing anything

i have tried to move the robot with simulated joystick ( turtlebot keyboard_teleop ), and i have no problem. I tried to reduce the robot_radius and inflation radius to minimum ( 0.01 ), and the exploration still finish instantly, so i think the problem don't come from not having enough free pixel.

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2015-10-21 08:58:01 -0500 commented answer nav2d StartExploration finished without doing anything

Changed the grid_resolution parameter in mapper.yaml to 0.025, and the map is much clearer that before. But the exploration is still finished as soon as it begin, despite having clear boundary open.

2015-10-21 07:53:04 -0500 commented answer nav2d StartExploration finished without doing anything

I forgot to mention it on the question, but i was able to create the map correctly by using RVIZ to send goal. I will test changing the map resolution and post here the results. Once again , thanks for answering

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2015-10-20 04:32:36 -0500 asked a question nav2d StartExploration finished without doing anything

Hello, I am currently trying to use nav2d service : StartExploration to make my turtlebot robot map a unknown room with Ubuntu 14.04 and ROS Indigo.

When i use the service StartMapping to get the first map, the robot does move ahead and turn on itself to create the map. After that, when i launch the StartExploration service, it only say that "exploration has finished" without mapping the room.

Here is the rqt_console list of debug message for StartExploration : http://hpics.li/a24def6

I though it was a problem with the inflation radius, but after lowering the parameter in navigator.yaml and costmap.yaml the result stay the same.

Here is the map viewed by Rviz : http://hpics.li/537b9fc

Any hint on what topic i should look at to know where the problem is ?? i looked at Explore/goal, and a goal is indeed created each time i start the service, but the goal part of the message is blank.

EDIT : map au format pgm : http://s000.tinyupload.com/?file_id=7... map au format yaml : http://s000.tinyupload.com/?file_id=5...

2015-10-20 01:47:42 -0500 commented question nav2d can't find path

Indeed, that's a better way, thanks for reminding me :)

2015-10-19 08:17:24 -0500 commented question nav2d can't find path

Thanks a lot, it was indeed a problem about /cmd_vel, who is called in my case /cmd_vel_mux/input/teleop. I changed the define in RobotOperator.h and it works.

2015-10-19 04:13:50 -0500 commented question nav2d can't find path

After calling StartMapping, nothing happen to the robot, so i think the problem comes from here. The robot can physically move ( already did mapping with gmapping before ), but is seems it cant move with nav2d. I am currently trying to add more debug messages to understand why it doesn't move.

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2015-10-16 08:19:31 -0500 commented question nav2d can't find path

Oh, so this output is normal. As nothing happened, i though it was an error message. I will check and edit my question when i have the results from the ROS-Console. Thanks a lot for answering

2015-10-16 04:54:26 -0500 asked a question nav2d can't find path

Hello, I am currently tring to use the nav2d package to make my turtlebot robot do an autonomous exploration of a unknown room. I am using ROS Indigo with Ubuntu 14.04. I am using the tutorial3.launch file with some modificaitons to adapt the topics to the turtlebot, and both the costmap and the global map ( on /map topic ) are created. But when i try to use the rosservice call /StartMapping 3, i obtain

response: 0

and it goes back to command line Here are my files : tutorial3.launch

<launch>

    <!-- Some general parameters -->
    <param name="use_sim_time" value="false" />
    <rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

    <!-- Start Stage simulator with a given environment 
    <node name="Stage" pkg="stage_ros" type="stageros" args="$(find nav2d_tutorials)/world/tutorial.world">
        <param name="base_watchdog_timeout" value="0" />
    </node>-->

    <!-- Start the Operator to control the simulated robot -->
    <node name="Operator" pkg="nav2d_operator" type="operator" >

        <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
        <rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
    </node>

    <!-- Start Mapper to genreate map from laser scans -->
    <node name="Mapper" pkg="nav2d_karto" type="mapper">        
        <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
    </node>

    <!-- Start the Navigator to move the robot autonomously -->
    <node name="Navigator" pkg="nav2d_navigator" type="navigator">

        <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
    </node>

    <node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
    <node name="Explore" pkg="nav2d_navigator" type="explore_client" />
    <node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client">
        <remap from="goal" to="move_base_simple/goal"/>
    </node>

    <!-- Start the joystick-driver and remote-controller for operation
    <node name="Joystick" pkg="joy" type="joy_node" />
    <node name="Remote" pkg="nav2d_remote" type="remote_joy" />-->

    <!-- Pioneer model for fancy visualization -->
    <!-- Comment this out if you do not have the package 'p2os' available! 
    <include file="$(find p2os_urdf)/launch/pioneer3at_urdf.launch" />
    <node name="front_left_wheel" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_front_left_hub p3at_front_left_wheel 100" />
    <node name="front_right_wheel" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_front_right_hub p3at_front_right_wheel 100" />
    <node name="back_left_wheel" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_back_left_hub p3at_back_left_wheel 100" />
    <node name="back_right_wheel" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_back_right_hub p3at_back_right_wheel 100" />
-->
    <!-- RVIZ to view the visualization 
    <node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial3.rviz" />-->

</launch>

rqt-graph http://hpics.li/b05718e

EDIT : I tried running the rqt_console while calling the services : When i run rosservice call /StartMapping 3 , i have an Info message saying Navigator is now initialised. But when i run rosservice call /StartExploration 2, i obtain a Warning message saying

Navigator is busy!
Location:
/tmp/binarydeb/ros-indigo-nav2d-navigator-0.1.4/src/RobotNavigator.cpp:receiveExploreGoal:798

then 5 min after , every second :

Robot cannot move further in this direction!
Location:
/tmp/binarydeb/ros-indigo-nav2d-operator-0.1.4/src/RobotOperator.cpp:executeCommand:268

So i tried to move the robot with Rviz, and it show an error message saying

no way between robot and goal
no way between robot and goal
2015-10-16 02:13:57 -0500 commented answer nav2d Navigator failing to create path

Thanks a lot for the answers, i was able to change the /laser_frame to the correct value. It took me so long because thoses parameters are not listed in the rosparam list /Mapper The map is now correctly created, but as the robot is not responding to goals, i may create another question :)

2015-10-15 08:17:13 -0500 commented answer nav2d Navigator failing to create path

No messages during startup, sadly :-( It only show around 20 time a sec the following message in the Mapper log :

[[33m[ WARN] [1444902817.579649858]: Failed to compute odometry pose, skipping scan ("base_laser_link" passed to lookupTransform argument source_frame does not exist. )^[[0m
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2015-10-15 07:25:07 -0500 edited question nav2d Navigator failing to create path

Hello, I am trying to use nav2d with the turtlebot robot, in order to map an unknown room. I was able to modify the tutorial3.launch file and the costmap is created without problems. But when i try to add a goal in Rviz, the robot don't move and it show

[ERROR]: Prepare failed!

I also tried to use

rosservice call /StartMapping 3

but it only print response: 0 and shut down.

Here is my rqt_graph : http://img11.hostingpics.net/pics/270...

EDIT : The mapper log show the following error

[[33m[ WARN] [1444902817.579649858]: Failed to compute odometry pose, skipping scan ("base_laser_link" passed to lookupTransform argument source_frame does not exist. )^[[0m
2015-10-15 04:59:08 -0500 commented answer nav2d Navigator failing to create path

Thanks for your anwers. May i ask how to do that ? i was able to change the Mapper's log level with rosservice call /mapper ros debug, but i don't know how to call the get_map service as it is not listed in rosservice list, only /GetMap/get_loggers and /GetMap/set_logger_level

2015-10-15 02:23:51 -0500 asked a question Visualizing a dynamic map with ros2djs

Hello, I am currently using the "Visualizing a Map" to see the map created by my turtlebot robot and navigate in it, and it works fine. Now i would like to know if it is possible to see the evolution of the map, for example when the robot see an unknown part of the map. As it is, as the map is only loaded at the beginning, the ROS map is updated but the html map is not. Is there a way to refresh the HTML map regularly ?

BAIGNE Swan

2015-10-15 01:47:47 -0500 commented answer nav2d Navigator failing to create path

Thanks for your answer, it seems that the Mapper node is not creating the map. It seems that it is because 3 topic it subscribe to are not published : /tf_static , /karto_in and /initialpose. Which node is supposed to publish those 3 topic ?

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