Gonzalo Hernández R's profile - activity

Hello everyone!

Im trying to use nav2d package with turtlebot and hokuyo laser to map an unknown room. I think I've all well conected, as you can see on my rqt_graph:

I can use the /StartMapping service but it seems to fail at this point. These are the /map and the /Operator/local_map/costmap in RVIZ.

Map:

Costmap:

Obviously, Exploration doesn't work well with these maps.

My tf-tree:https://drive.google.com/open?id=0B8A...

The laser-scan and costmaps seem OK:

Some videos of the problem:

This is a video of the first Tutorial1 (Nav2d). I'm showing you odom and the base_footprint frames. As you can see, all the conections between the frames seem OK.

https://drive.google.com/open?id=0B8A...

The next two videos are from Tutorial3 (Nav2d). The point of view is from map in the RVIZ, as you can see this frame is upside down, I don't know why. It seems to be an issue at this point, since odom and offset frame make aparently random jumps.

https://drive.google.com/open?id=0B8A...

The last one is from the perspective of base_link of the robot. I show you both, the map and the costmap. The map frame seems to maintain the reference with the map.

https://drive.google.com/open?id=0B8A...

I hope these videos help you to understand the problem.

This is my launch file:

<launch>

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

     <arg name="world_file"  default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>
 <arg name="base"      value="$(optenv TURTLEBOT_BASE kobuki)"/>  <!--create, roomba -->
     <arg name="battery"   value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>   <!--/proc/acpi/battery/BAT0 --> 
      <arg name="gui" default="true"/> 
      <arg name="stacks"    value="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons --> 
      <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro --> 

      <include file="$(find gazebo_ros)/launch/empty_world.launch">
      <arg name="use_sim_time" value="true"/>
      <arg name="debug" value="false"/>
      <arg name="gui" value="$(arg gui)" />
      <arg name="world_name" value="$(arg world_file)"/>
      </include> 

      <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
      <arg name="base" value="$(arg base)"/>
      <arg name="stacks" value="$(arg stacks)"/>
      <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
      </include>


     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
           <param name="publish_frequency" type="double" value="30.0" />
     </node>

      <!-- Fake laser -->

      <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
      <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
               args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
      <param name="scan_height" value="10"/>
      <param name="output_frame_id" value="/camera_depth_frame"/>
      <param name="range_min" value="0.45"/>
      <remap from="image" to="/camera/depth/image_raw"/>
      <remap from="scan" to="/kinect_scan"/>
      </node> 

<!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >
    <remap from="scan" to="base_scan"/>
    <remap from="cmd_vel" to="cmd_vel_mux/input/teleop" />
    <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">
    <remap from="scan" to="base_scan"/>
    <rosparam file="$(find nav2d_tutorials)/param ...