DanThe's profile - activity

Hi all,

I would appreciate it if someone can guide me on how to install eband_local_planner for use with move_base on Hydro because every approach that I have tried so far, has failed.

Thanks

I installed eband_local_planner by using the following commands:

rosws set eband_local_planner https://github.com/utexas-bwi/eband_local_planner --git
rosws eband_local_planner
roscd eband_local_planner
rosmake

Running the command rospack plugins --attrib=plugin nav_core shows eband_local_planner loaded as a plugin but the eband_local_planner is installed in /home/powerbot67/ros/eband_local_planner/elp_plugin.xml while the rest of the plugins are installed in /opt/ros/hydro/share. Could this be a problem?

powerbot67@powerbot67-desktop:~$ printenv | grep ROS
ROS_ROOT=/opt/ros/hydro/share/ros
ROS_PACKAGE_PATH=/home/powerbot67/ros/sbpl_lattice_planner:/home/powerbot67/ros/eband_local_planner:/home/powerbot67/hydro/sandbox:/opt/ros:/opt/ros/hydro/share:/opt/ros/hydro/stacks
ROS_MASTER_URI=http://localhost:11311
ROS_WORKSPACE=/home/powerbot67/ros
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=hydro
ROS_ETC_DIR=/opt/ros/hydro/etc/ros

I changed the move_base.launch file to use eband_local planner as follows:

<arg name="base_local_planner" default="eband_local_planner/EBandPlannerROS"/>

However, when I run move_base, I get the following error:

[FATAL] [1455878479.341080841]: Failed to create the eband_local_planner/EBandPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: Could not find library corresponding to plugin eband_local_planner/EBandPlannerROS. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [move_base-1] process has died [pid 5295, exit code 1, cmd /opt/ros/hydro/lib/move_base/move_base cmd_vel:=/RosAria/cmd_vel __name:=move_base __log:=/home/powerbot67/.ros/log/e58dae7e-d6f1-11e5-a32e-00026f87bbb1/move_base-1.log]. log file: /home/powerbot67/.ros/log/e58dae7e-d6f1-11e5-a32e-00026f87bbb1/move_base-1*.log

Also, running roswtf gives the following:

ERROR Not all paths in ROS_PACKAGE_PATH [/home/powerbot67/ros/sbpl_lattice_planner:/home/powerbot67/ros/eband_local_planner:/home/powerbot67/hydro/sandbox:/opt/ros:/opt/ros/hydro/share:/opt/ros/hydro/stacks] point to an existing directory: 
 * /home/powerbot67/ros/sbpl_lattice_planner

What should I do to solve this?

Thanks

Hi all,

I created a launch file to perform autonomous navigation with the robot. The launch file's contents can be seen below:

###launching rviz###
  <node name="rviz" pkg="rviz" type="rviz" />

###start laser###
  <node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" output="screen">
  <param name="port" value="/dev/ttyS1"/>
  <param name="inverted" value="true"/>
  </node>

###get map###
  <node pkg="map_server" type="map_server" name="map_server" args="/home/powerbot67/FacultyGNDFloorMapDan.yaml"/>

###RosAria###
  <node pkg="rosaria" type="RosAria" name="RosAria" output="screen" args="/home/powerbot67/catkin_ws/src" >
  <param name="port" value="/dev/ttyS0"/>
  <param name="DriftFactor" value="-20"/>
  <param name="TicksMM" value="115"/>
  </node>

</launch>

To launch rosaria and transforms, I usually run the following commands succesfully in 2 separate terminals:

cd ~/catkin_ws
source ./devel/setup.bash
rosrun rosaria RosAria _port:=/dev/ttyS0 _DriftFactor:=-20 _TicksMM:=115

cd ~/transform_ws
source ./devel/setup.bash
rosrun transform transform

However, when I try to run rosaria using the launch file mentioned, I get the following error:

ERROR: cannot launch node of type [rosaria/RosAria]: rosaria ROS path [0]=/opt/ros/hydro/share/ros ROS path [1]=/home/powerbot67/ros/eband_local_planner ROS path [2]=/home/powerbot67/ros/sbpl_lattice_planner ROS path [3]=/home/powerbot67/hydro/sandbox ROS path [4]=/opt/ros ROS path [5]=/opt/ros/hydro/share ROS path [6]=/opt/ros/hydro/stacks

Any ideas as to why this is happening? How should I call transforms in this launch file? I would appreciate any help.

Thanks.

Hi all,

Following my other question link: here , I am now trying to install teb_local_planner on ROS Hydro from source.

I am not sure on how to install packages from source so I have been following the answer to this question link:here.

However, I am getting the following errors:

powerbot67@powerbot67-desktop:~$ rosinstall ~/ros /opt/ros/hydro
rosinstall operating on /home/powerbot67/ros from specifications in rosinstall files  /opt/ros/hydro
(Over-)Writing /home/powerbot67/ros/.rosinstall
(Over-)Writing setup.sh, setup.bash, and setup.zsh in /home/powerbot67/ros

rosinstall update complete.

Now, type source /home/powerbot67/ros/setup.bash to set up your environment. Add that to the bottom of your ~/.bashrc to set it up every time.

If you are not using bash please see http://www.ros.org/wiki/rosinstall/No...

powerbot67@powerbot67-desktop:~$ echo "source ~/ros/setup.bash">> ~/.bashrc
powerbot67@powerbot67-desktop:~$ roslocate info teb_local_planner > teb_local_planner.rosinstall
Using ROS_DISTRO: hydro
rosinstall ~/ros teb_local_planner.rosinstall
    cannot locate information about teb_local_planner

powerbot67@powerbot67-desktop:~$ rosinstall ~/ros teb_local_planner.rosinstall
rosinstall operating on /home/powerbot67/ros from specifications in rosinstall files  teb_local_planner.rosinstall
(Over-)Writing /home/powerbot67/ros/.rosinstall
    (Over-)Writing setup.sh, setup.bash, and setup.zsh in /home/powerbot67/ros

rosinstall update complete.

Is this the correct way to install teb_local_planner from source on Hydro? Or does this mean that teb_local_planner cannot be installed on Hydro?

Thanks always.

Update: Tried installing teb_local_planner from source as suggested by @gvdhoorn but I am getting the following errors:

powerbot67@powerbot67-desktop:~/catkin_ws/src$ rosdep install --from-paths . --ignore-src --rosdistro=hydro
WARNING: Package "ompl" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).
WARNING: Package "ompl" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).
Executing script below with cwd=/tmp
{{{
#!/bin/bash
if test "x`dpkg-query -W -f='${Package} ${Status} ${Version}\n' libaria-sourcedep`" != 'xlibaria-sourcedep install ok installed 2.8.0-1'; then
  echo "libaria-sourcedep not installed"
  exit 1
else
  exit 0
fi

}}}

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
teb_local_planner: Cannot locate rosdep definition for [costmap_converter]

The first screenshot is the terminal that runs my navigation launch file. I looks like move_base is not sending commands to RosAria but I don't know why it happens. Could it be because the processor has reached its processing limit?

Thanks for your answer!

Hi all,

At certain points during the navigation, the robot stops without any apparent reason (the robot's path is not blocked). The terminal outputs the following warnings:

and when I checked the cmd_vel topic I got the following:

Any ideas as to why this happens?

Thanks

Hi all,

Is there any way to record rosbag data to a different location than the default location?

I am getting the following error:

[ERROR] [1460470166.869390414]: Less than 1GB of space free on disk with corridorlocalization_2016-04-12-16-00-06.bag.active.  Disabling recording.
[ WARN] [1460470167.370142337]: Not logging message because logging disabled.  Most likely cause is a full disk.

Is it possible to record rosbag data to a pen drive?

Thanks

Hi all,

What is the parameter that controls how far backwards the robot goes when it detects an obstacle at close proximity? Is it an issue related to the local planner or a setting in move_base?

Thanks

TrajectoryPlannerROS:
    # Robot Configuration Parameters
    acc_lim_x: 0.35        #was 0.5
    acc_lim_y: 0.35         #was 0.5
    acc_lim_theta: 0.35     #was 0.5
    max_vel_x: 0.35         #was 0.5
    min_vel_x: 0.05
    max_vel_theta: 1.0
    min_in_place_vel_theta: 0.05 #was0.4
    escape_vel: -0.06
    holonomic_robot: false

    # Goal Tolerance Parameters
    xy_goal_tolerance: 0.1 #was 0.3
    yaw_goal_tolerance: 0.1 #was 0.3 lower means harder to achieve
    latch_xy_goal_tolerance: false
    path_distance_bias: 20.0 #default 0.6 - wasn't used - see pdist_scale
    goal_distance_bias: 0.8 #default 0.8 - wasn't used - see gdist_scale

    # Forward Simulation Parameters
    sim_time: 10.0
    sim_granularity: 0.025
    vx_samples: 5
    vtheta_samples: 20
    controller_frequency: 20.0 #has to be the same as in move_base.launch

    # Trajectory Scoring Parameters
    meter_scoring: true
    pdist_scale: 0.8
    gdist_scale: 0.6
    occdist_scale: 0.10 #was 0.01 
    heading_lookahead: 0.325 - was default 
    heading_scoring: false 
    dwa: false
    global_frame_id: odom

    # Oscillation Prevention Parameters
    oscillation_reset_dist: 0.05

<launch> <master auto="start"/>

<arg name="no_static_map" default="false"/>

<arg name="base_global_planner" default="navfn/NavfnROS"/>

<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/>

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/costmap_common_params.yaml" command="load" ns="global_costmap"/> <rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>

<rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/local_costmap_params.yaml" command="load" />

<rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/global_costmap_params.yaml" command="load" />

<rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/base_local_planner_params.yaml" command="load" />

<param name="base_global_planner" value="$(arg base_global_planner)"/>
<param name="base_local_planner" value="$(arg base_local_planner)"/>  
<param name="recovery_behavior_enabled" value="true"/> 
<param name="recovery_behaviour_enabled" value="true"/> 
<param name="clearing_rotation_allowed" value="true"/>
<param name="controller_frequency" value="20.0"/> 
<param name="planner_patience" value="5.0"/>
<param name="planner_frequency" value="0.0"/>
<param name="controller_patience" value="15.0"/>

<!--<param name="oscillation_timeout" value="40"/> -->

<!-- Remap into namespace for cmd_vel_mux switching-->
<remap from="cmd_vel" to="/RosAria/cmd_vel" />

</node> </launch>

@spmaniato do you mean inserting recovery_behaviors:false in the move_base launch file?

@spmaniato I edited the question to include move_base.launch

rosparam get shows the parameters set correctly : powerbot67@powerbot67-desktop:~/catkin_ws$ rosparam get /move_base/recovery_behavior_enabled false powerbot67@powerbot67-desktop:~/catkin_ws$ rosparam get /move_base/clearing_rotation_allowed false

Thanks for your reply @Mehdi. No, I am not running either of catkin_make or catkin_make install. Is this always required after changing a parameter? I was only pressing 'save' after changing parameters in the launch file. I assumed that this is enough to affect a change in parameter. Thanks again

Thanks, I'll check that out although the displayed items should be the same in both cases. In the top view the map's outline is not showing clearly but the map still seems to be there...

I will check it out. Thanks!

Thanks for your reply. The obstacle was present when the global planner calculated the global path. The red arm of baselink is nearly touching the obstacle which is a vertical noticeboard on a stand that is taller than an average human.

Hi all,

The current move_base launch file that I am using has the following parameters set as follows:

<param name="recovery_behavior_enabled" value="false"/>
<param name="clearing_rotation_allowed" value="false"/>

The wiki page for move_base http://wiki.ros.org/move_base states the following:

These recovery behaviors can be configured using the recovery_behaviors parameter, and disabled using the recovery_behavior_enabled parameter.

So why does the robot still perform clearing rotations if the related parameters are disabled?

Thanks

move_base launch file:

<launch>
  <master auto="start"/>

  <arg name="no_static_map" default="false"/>

  <arg name="base_global_planner" default="navfn/NavfnROS"/> 
  <!--<arg name="base_global_planner" default="carrot_planner/CarrotPlanner"/>-->

  <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/>

  <!--<arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/>-->

  <!--<arg name="base_local_planner" default="eband_local_planner/EBandPlannerROS"/>-->


  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/costmap_common_params.yaml" command="load" ns="local_costmap" />

    <rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/local_costmap_params.yaml" command="load" />

    <rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/global_costmap_params.yaml" command="load" />

    <rosparam file="/home/powerbot67/navigation_powerbot/src/powerbot_2dnav/config/base_local_planner_params.yaml" command="load" />

    <param name="base_global_planner" value="$(arg base_global_planner)"/>
    <param name="base_local_planner" value="$(arg base_local_planner)"/>  
    <param name="recovery_behavior_enabled" value="false"/> 
    <param name="recovery_behaviour_enabled" value="false"/> 
    <param name="clearing_rotation_allowed" value="false"/>
    <param name="planner_frequency" value="40.0"/> 

    <!--<param name="controller_frequency" value="10.0"/> --> 
    <!--<param name="planner_patience" value="40.0"/> -->
    <!--<param name="controller_patience" value="40.0"/> -->

    <!--<param name="oscillation_timeout" value="40"/> -->

    <!-- Remap into namespace for cmd_vel_mux switching-->
    <remap from="cmd_vel" to="/RosAria/cmd_vel" />
  </node>
</launch>