M_wasiel13's profile - activity

Hi ! I have a really big problem with ros_base_local planner configuration. When I launch the move_base.launch file and launch 'AMCL' node the module stars to jumping between couple position on the mp in the RVIZ but in gazebo is stable. Below I included my rqt_graph and tf_frames_view

In my opinion everything looks quite good. Below I've attached my launch file for starting the whole simulation with pioneer in it:

    <launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find gazebo_worlds)/worlds/Factory_World.world"/>
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>


  <!-- No namespace here as we will share this description. 
       Access with slash at the beginning -->
  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description"
     command="$(find xacro)/xacro.py '$(find pioneer_description)/urdf/pioneer3dx.xacro'" />

  <!-- BEGIN PIONEER 1-->


    <include file="$(find pioneer_description)/launch/one_pioneer.launch" >
      <arg name="init_pose" value="-x 0 -y -55 -z 0" />

    </include>

  <param name="/use_sim_time" value="true"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find gazebo_worlds)/maps/FactoryWorld.yaml" >
    <param name="frame_id" value="/map" />
  </node>
    <param name="robot_description"
    command="$(find xacro)/xacro.py '$(find pioneer_description)/urdf/pioneer3dx.xacro'" />

  <!-- Show in Rviz   -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find pioneer_description)/launch/pioneer.rviz"/>



</launch>

here I attached the amcl launch file:

<launch>


  <node pkg="amcl" type="amcl" name="amcl" output="screen">
    <param name="use_map_topic" value="true"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
        <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="base_frame_id" value="/base_link"/> 
    <param name="odom_frame_id" value="/odom"/> 
    <param name="global_frame_id" value="/map"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1 ...

Hello, When i launch my simulation I get two warnings:

[ WARN] [1465156368.902100026, 1017.888000000]: DiffDrive(ns = //): missing <odometrySource> default is 1
[ WARN] [1465156368.902473604, 1017.888000000]: GazeboRosDiffDrive Plugin (ns = ) missing <publishTf>, defaults to 1

I try to run gazebo+ ros with pioneer robot. I don't know how to solve this issue.

That's how i use DiffDrive plugin pioneer.gazebo files:

<gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
      <alwaysOn>true</alwaysOn>
      <updateRate>100</updateRate>
      <leftJoint>base_left_wheel_joint</leftJoint>
      <rightJoint>base_right_wheel_joint</rightJoint>
      <torque>5</torque><br />
      <wheelSeparation>0.39</wheelSeparation>
      <wheelDiameter>0.15</wheelDiameter>
      <commandTopic>pioneer/cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <robotBaseFrame>base_link</robotBaseFrame>
      <publishWheelTF>true</publishWheelTF>
      <publishWheelJointState>true</publishWheelJointState>
      <wheelAcceleration>0</wheelAcceleration>
      <wheelTorque>5</wheelTorque>
      <rosDebugLevel>na</rosDebugLevel>
    </plugin>
  </gazebo>

And here i attached my launch files:

<launch>
  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find gazebo_worlds)/worlds/Factory_World.world"/>
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>
  <!-- No namespace here as we will share this description. 
       Access with slash at the beginning -->
  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description"
     command="$(find xacro)/xacro.py '$(find pioneer_description)/urdf/pioneer3dx.xacro'" />
  <!-- BEGIN PIONEER 1-->
  <include file="$(find pioneer_description)/launch/one_pioneer.launch" >
      <arg name="init_pose" value="-x 0 -y -55 -z 0" />
  </include>
    <param name="/use_sim_time" value="true"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find gazebo_worlds)/maps/FactoryWorld.yaml" >
    <param name="frame_id" value="/map" />
  </node>
    <param name="robot_description"
    command="$(find xacro)/xacro.py '$(find pioneer_description)/urdf/pioneer3dx.xacro'" />

  <!-- Show in Rviz   -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find pioneer_description)/launch/pioneer.rviz"/>



</launch>

And one_pioneer.launch:

<launch>
  <arg name="init_pose"/>

  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
    args="$(arg init_pose) -urdf -model -param /robot_description"/>

  <!-- send fake joint values -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
    <param name="use_gui" value="FALSE"/>
    <remap from="robot_description" to="/robot_description"/>
  </node>
  <!-- Combine joint values -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
  <!-- The odometry estimator, throttling, fake laser etc. go here -->
  <!-- All the stuff as from usual robot launch file -->  
</launch>

I think this is a really simple problem but i have no knowledge how to solve that issue.


Below I alsso attached all logs from gazebo etc. starting:

 [ INFO] [1465156365.861468958, 1017.888000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
    [ INFO] [1465156366 ...