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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 :
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 and it goes back to command line Here are my files : tutorial3.launch rqt-graph http://hpics.li/b05718e EDIT :
I tried running the rqt_console while calling the services :
When i run then 5 min after , every second : So i tried to move the robot with Rviz, and it show an error message saying |
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 |
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 : |
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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 I also tried to use but it only print Here is my rqt_graph : http://img11.hostingpics.net/pics/270... EDIT : The mapper log show the following error |
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 |
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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