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2015-11-13 09:17:21 -0500	asked a question	Navigation map_server, amcl, move base Hello every one, I am working on a project where I used different node to move. I follow this tutorial first : http://wiki.ros.org/navigation/Tutori... Then : http://wiki.ros.org/navigation/Tutori... I modified a bit the tutorial file for my need so I have this : http://www.fichier-zip.com/2015/11/13... My problem is : my local map is not what it should be. I have a whole map, well I should only have the result from my laser which is not the case. My second problem is that my robot don't go where I ask him to go sometime it just goes in one direction without following the path and sometime I have a error message in RViz for path feature : For frame []: Frame [] does not exist And this is the result : https://www.youtube.com/watch?v=cetai... EDIT: It was the resulst I was looking for but finally I found my mistake. It was in local_costmap where global fram should be map and not /map
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2015-11-08 07:18:33 -0500	answered a question	Configuration of the Navigation Stack on a Robot-Topic missing Thank you for your answer. I will look with your link. About the RViz file my problem is to configure it correctly, the problem is that my grid can't subscribe to any topic, so that why I think I might have problem with my .yaml files. I also don't see my robot footprint. I also have another problem with my map, it doesn't load with my launch file but when I use the rosrun command it works so I don't understand why. EDIT : rosnode list : user@IBX0020-2014:~$ rosnode list /amcl_node /map_server /move_base /rosout /rviz /slam /stageros rostopic list: user@IBX0020-2014:~$ rostopic list /amcl_node/parameter_descriptions /amcl_node/parameter_updates /amcl_pose /camera_info /clicked_point /clock /cmd_vel /depth /ground_truth /image /initialpose /laser /map /map_metadata /map_updates /move_base/NavfnROS/plan /move_base/current_goal /move_base/global_costmap/costmap /move_base/global_costmap/costmap_updates /move_base/global_costmap/footprint /move_base/global_costmap/inflation_layer/parameter_descriptions /move_base/global_costmap/inflation_layer/parameter_updates /move_base/global_costmap/obstacle_layer/parameter_descriptions /move_base/global_costmap/obstacle_layer/parameter_updates /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped /move_base/global_costmap/obstacle_layer_footprint/parameter_descriptions /move_base/global_costmap/obstacle_layer_footprint/parameter_updates /move_base/global_costmap/parameter_descriptions /move_base/global_costmap/parameter_updates /move_base/global_costmap/static_layer/parameter_descriptions /move_base/global_costmap/static_layer/parameter_updates /move_base/goal /move_base/local_costmap/costmap /move_base/local_costmap/costmap_updates /move_base/local_costmap/footprint /move_base/local_costmap/inflation_layer/parameter_descriptions /move_base/local_costmap/inflation_layer/parameter_updates /move_base/local_costmap/obstacle_layer/parameter_descriptions /move_base/local_costmap/obstacle_layer/parameter_updates /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped /move_base/local_costmap/obstacle_layer_footprint/parameter_descriptions /move_base/local_costmap/obstacle_layer_footprint/parameter_updates /move_base/local_costmap/parameter_descriptions /move_base/local_costmap/parameter_updates /move_base/local_costmap/static_layer/parameter_descriptions /move_base/local_costmap/static_layer/parameter_updates /move_base_simple/goal /odom /odometry /particlecloud /rosout /rosout_agg /slam/entropy /tf /tf_static I also have an error at the end of the terminal : what(): Tried to subscribe to a topic with the same name but different md5sum as a topic that was already subscribed [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7 vs. sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca] [move_base-7] process has died [pid 2230, exit code -6, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/user/.ros/log/79334df2-864b-11e5-acb3-080027727b67/move_base-7.log]. log file: /home/user/.ros/log/79334df2-864b-11e5-acb3-080027727b67/move_base-7*.log EDIT 2: Ok now I manage to have a robot foot print and a map, I still have two problem. The first thing is that my grid can't subscribe to topic so I do not have the obstacles. The second is that the pathfinding doesn't work, the robot always go in the same way even if I change the goal.
2015-11-08 05:02:09 -0500	asked a question	Configuration of the Navigation Stack on a Robot-Topic missing Hello everyone, I am trying to follow the Configuration of the Navigation Stack on a Robot and at the end I didn't have what I am suppose to have. http://wiki.ros.org/navigation/Tutori... When I try to configure my RViz for some feature I do not have the right topic, their are missing, I mean their are not selectable in the list of topic. it concern : Robot Footprint Obstacles Inflated Obstacles Unknown Space Global Plan Local Plan Planner Plan Using rostopic list I find that /move_base/local_costmap/footprint is publish but I ca not select it in the topic list for Robot Footprint. It is a part of an assignment whose is the description : Navigate the map using rviz and path planning algorithms Copy the FirstnameLastnameSlamSim.rviz to FirstnameLastnamePlanSim.rviz (for example, by using linux's "cp" command or ROS's roscp command) Create a FirstnameLastnamePlanSim.launch file to: Set global parameter "use_sim_time" to "true" Run stageros node with worlds/test.world configuration file from the tut_ibx0020 package (simulation) and the following topic remappings for stageros topics: Robot odometry should be published to "/odometry" Ideal odometry should be published to "/ground_truth" Laser should be published to "/laser" Run rviz node from rviz package and load FirstnameLastnameSlamSim.rviz display profile. Run map_server node from the map_server package with proper parameters to load previously created FirstnameLastnameSim.pgm and FirstnameLastnameSim.yaml files as a map Run amcl node from the amcl package to localize your robot using the map with proper parameters and topic remappings, if needed. Run move_base node from the move_base package to Navigate your robot by sending commands to stageros using localization from amcl and map from map_server. Set proper parameters and topic remappings, if needed. Create and load parameter files (see the RobotSetup for the Navigation stack for details). Robots' base frame id is "base_link", while laser's frame id is "base_laser_link". You global frame id should be "map", not "odom". costmap_common_params.yaml -Set proper topic name for laser, and put correct frame_id to laser_scan_sensor's sensor_frame. -Set "footprint" (four points outlining shape of the robot - cube with a size of 0.5) or "robot_radius" (square can also be approximated by a circle). local_costmap_params.yaml global_costmap_params.yaml base_local_planner_params.yaml Keep in mind, that the robot in simulation is differential-drive robot And this is my launch file : <launch> <param name="use_sim_time" value="true" type="boolean"/> <node name="stageros" pkg="stage_ros" type="stageros" args=" --dataPath $(find tut_ibx0020)/worlds/ --configfile $(find tut_ibx0020)/worlds/test.world " > <remap from="odom" to="odometry" /> <remap from="base_pose_ground_truth" to="ground_truth" /> <remap from="base_scan" to="laser" /> </node> <node name="slam" pkg="gmapping" type="slam_gmapping" args="scan:=/laser"> <param name="xmin" value="0" /> <param name="xmax" value="30.0" /> <param name="ymin" value="0" /> <param name="ymax" value="30.0" /> <param name="delta" value="0.05" /> </node> <node name="rviz" pkg="rviz" type="rviz" args=" --display-config $(find ibx0020_control)/QuentinMOUTYPlanSim.rviz" /> <!-- Run the map server --> <node name="map_server" pkg="map_server" type="map_server" args="$(find ibx0020_control)/QuentinMOUTYSim.yaml ... (more)
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2015-10-26 05:06:47 -0500	asked a question	Publish a complex msg on a topic Hey, I read the topic on publishing for python scipt but now I would like to published complex msg like : `People.msg Inside Int Age String FName String LName` I don't know what I am supposed to write in the python script to publish data ob the different part of the message ? Something like : `pub_People = rospy.Publisher('people', People);` And the I change the value of the `people.age` before publishing ? `People.age =10 pub_People .publish(people.age)` Thank you for your help.