j_salfity's profile - activity

Looking to tighten the envelope for the ensemble of points placed by AMCL, the topic is /particlecloud. I'm finding that I don't need to worry about the 'kidnapped robot problem', where the robot could suddenly be taken to any point on my map and the envelope stretches and randomly places estimates all over the map.

I'm driving my robot around by either teleop or 2D Nav Goal in rviz and the distribution of points shouldn't be moving further than something like a 2x2 m^2 radius.

Does anyone know the input parameter to amcl that can reduce the covariance? of particle swarm?

Thanks!

did you ever get anywhere on this? I'm wondering the same thing... Thanks

Hi All, I'm looking to provide a namespace for my turtlebot. In my .bashrc file, I've set: export TURTLEBOT_NAME=Dave and export ROS_NAMESPACE=$TURTLEBOT_NAME

After launching turtlebot_bringup minimal.launch and turtlebot_navigation amcl_demo.launch the list of topics are all in the /Dave namespace, however the following: /dave/incompatible_rapp_list /dave/rapp_list /dave/status /diagnostics /diagnostics_agg /diagnostics_toplevel_state /rosout /rosout_agg /scan /tf /tf_static are not or have incorrect namespace. dave not Dave. More importantly I'm looking to solve the tf and tf_static because those are very important for actual navigation. I was looking at this ROS Answers but couldn't solve my problem.

Any thoughts? Thanks :)

I was wrong all along, tf and tf_static need to be in their own namespace.

global planner using different global costmap Hi All, Using ROS Indigo on Ubuntu 14.04 and running turtlebot_navigation

How did you add the name of the robot to odom and base_footprint? robot_name_odom or robot_name/odom ?? I'm struggling w

How did you add the name of the robot to odom and base_footprint? robot_name_odom or robot_name/odom ?? Thanks

Got it, thanks. Any thoughts on the tf and tf_static frames naming?

Got it. Any thoughts on the tf and tf_static frames naming?

ROS_NAMESPACE , tf , turtlebot_bringup and turtlebot_navigation Hi All, I'm looking to provide a namespace for my turtle

robot web tools - keyboard, velocity smoother Hi All, I'm using the robot web tools keyboard to teleop my Turtlebot th

Awesome, thanks for the response. Ended up doing something just like that.

Interesting, can you think of a test to see if its working correctly? What is the way you would set it? The way I'm testing is if the obstacles from human leg scans are being removed, but they are for sure staying in the global_costmap. Ultimately, disrupting the global planner.

First, thanks for the response, David! Yea, I'm really confused, because I saw it in the source files. I didn't see it when I listed out rosparam get /move_base I tried adding it to the param global_costmap/scan/observation_persistence, but didn't see it actually working. Am I lost somewhere?

Hi All ...Some prelims: Turtlebot 2, Nvidia TK1, Xbox Kinect, Kobuki Base, ROS Indigo with turtlebot_navigation

Suppose the Turtlebot is at the Kobuki Docking station, when the Turtlebo receives a move_base goal the Turtlebot pivots in place and grinds against the docking station. Basically, the Turtlebot and turtlebot_navigation do not know when at the docking station.

Has anyone figured out a simple way to prevent this? I've tried all sorts of round-about methods, but I believe it comes down to /move_base listening to /mobile_base/sensors/core/charging and reversing a bit (0.1 [m]) when charging. I think I could add something into the /move_base library, but I prefer not to recompile an entire library.

Thoughts, suggestions?? Thanks!

What is the equivalent variable in ROS Indigo for observation_persistence in the costmap_2d obstacle layer that is in ROS Hydro?

I'm not finding observation_persistence in ROS Indigo

Thanks!

Hey All, I'm trying to connect my robot to the web for easier user interface. I found the very helpful libraries in www.robotwebtools.org , where I used the NAV2DJS widget to connect my turtlebot, move_base server and map server to a browser.

I went further and put the html file in an Amazon Web Server Ubuntu machine under /var/www/html/project_name, thinking that I could now access the webpage from any device, no matter which network they are on. The caveat I'm coming across is that I can only interact with the map on machines that are on the same LAN where roscore is running. I'm no web programmer by any means and my hunch is that the websockets aren't moving across different networks, only among the same network.

Question, how can I run the NAV2DJS widget in AWS and control the robot from different machines on any network?

I'm using the most recent turtlebot_navigation with ROS Indigo and noticing laser scans from dynamic obstacles, i.e. humans, moving chairs etc., being added to the global_costmap. That's fine because the robot is able to obstacle avoid for the time being. However, I don't want to rescan the area so that the obstacles get removed from the costmap.

I'm reading about older Navigation in Hydro and looking for the equivalent of "observation_persistence" in the global costmap parameters.

Any ideas?