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but I get this error : AttributeError: 'module' object has no attribute 'SimpleClientGoalState'! Do you have an idea how to implement it right?

@alienmon thank you very much for your help, this code works for me! I want to integrate following line:

if self.client.get_state() == actionlib.SimpleClientGoalState.SUCCESS:
    return 'succeded'
else:
    return 'aborted'

Hi, I want to use amcl with odom from hector_mapping combined with imu_data, but I am not able to get it running. I get tf errors, since I am missing tf from map to odom and from odom to base_footprint. How can I feed hectors odom to robot_pose_ekf and make robot_pose_ekf work together with amcl?

Do you mean a custom amcl-odom-model-type?

Thank you for your answer! My robot has a wheelbase of 2.8m, I want to simulate a real-case application, so I cannot change the wheelbase. Do you know if there is another way to improve odometry?

Thank you for your answer! My robot has a wheelbase of 2.8m, I want to simulate a real-case application, so I cannot change the wheelbase. Do you know if there is another way to improve odometry?

Hi Dharmateja Kadem, I am simulating a carlike robot with amcl localization and get the same problem. Could you plese describe how you managed to solve your problem. Thank you.

Hi Akif, I have the same problem. I am using a carlike robot simulated in gazebo. As odom_model_type I am using "diff". But amcl has no parameter specifying the wheelbase. Do you have any idea how to correct that localization drift? Tank you.

Thank you for your answer, I think I can make it work with SMACH, but I am new to programming and not sure about my code, could you please check my code and help me fix it? I am gonna update my question with my code.

Hi everyone,

I want to send multiple goals to the navigation stack, that the robot should pass successively. I want to use a node similar to the node from this tutorial http://wiki.ros.org/navigation/Tutori... . How can I use this node to send multiple goals?

Thank you in advance.

Update:

That is the code I am trying to use, but I am not sure what should be in the execute_cb-part:

#!/usr/bin/env python

import roslib
import rospy
import smach
import smach_ros
import actionlib

from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal

# Create a action server
class WPServer:
    def __init__(self,name):
        self._sas = SimpleActionServer(name,
                Waypoints,
                execute_cb=self.execute_cb)

    def execute_cb(self, msg):
        if msg.goal == 0:
            self._sas.set_succeeded()
        elif msg.goal == 1:
            self._sas.set_aborted()
        elif msg.goal == 2:
            self._sas.set_preempted()

def main():
    rospy.init_node('waypoint_machine')

    # Create a SMACH state machine
    sm = smach.StateMachine(outcomes=['succeeded','aborted','preempted'])

    # Open the container
    with sm:
        # Add states to the container

    wp1 = MoveBaseGoal()
    wp1.target_pose.header.frame_id = '/map'
    wp1.target_pose.pose.position.x = 13
    wp1.target_pose.pose.position.y = 0
    wp1.target_pose.pose.orientation.w = 1.0
    StateMachine.add('Waypoint1',
                      SimpleActionState('WPServer',
                                        Waypoints,
                                        goal=wp1),
                      transitions={'succeeded':'Waypoint2'})

    wp2 = MoveBaseGoal()
    wp2.target_pose.header.frame_id = '/map'
    wp2.target_pose.pose.position.x = 18
    wp2.target_pose.pose.position.y = 0
    wp2.target_pose.pose.orientation.z = 0.70710678118
    wp2.target_pose.pose.orientation.w = 0.70710678118
    StateMachine.add('Waypoint2',
                      SimpleActionState('WPServer',
                                        Waypoints,
                                        goal=wp2),
                      transitions={'succeeded':'Waypoint3'})

    # Execute SMACH plan
    outcome = sm.execute()

    rospy.signal_shutdown('All done.')


if __name__ == '__main__':
    main()

@zsaigol It's not entirely clear to me how this node is supposed to be used. Could you please explain?

Hi everyone, I have a model of a car-like robot and try to create a map of my world in gazebo with hector mapping. Everything is working fine except that my robot model is not moving in rviz, when I move it in gazbeo via joystick. Thus I am not able to create a map. However, the robot is moving in rviz when I change the fixed frame to odom instead of map, but this doesn't help to create the map. https://postimg.org/image/o37ieh2ul/ that is how my frame tree looks like now. I need some help please.

Hey ngoldfarb, were you able to solve your problem? I'm facing the same problem at the moment... My robot is moving in gazebo, but it is staying at the initial pose in rviz, so that I am not able to create a map

@forinkzan I am trying to control a car-like robot in gazebo as well. Could you please explain how you realized the teleoperation? And did you manage to navigate it?

Hi all,

I am trying to simulate a car-like robot in gazebo with following frame tree: https://postimg.org/image/m31wz0st1/ . When I run my launch file the following error occurs:

[ERROR] [1472202557.517496142, 40.405000000]: Unable to find odometry for model name /=-1

My launch file looks like follows:

<?xml version="1.0"?>
<launch>

      <arg name="paused" default="false"/>
      <arg name="use_sim_time" default="true"/>
      <arg name="gui" default="false"/>
      <arg name="headless" default="false"/>
      <arg name="debug" default="false"/>

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

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find chassis_gazebo)/worlds/chassis.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>

<param name="robot_description" command="$(find xacro)/xacro.py '$(find chassis_description)/urdf/chassis.urdf.xacro'" />

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="chassis_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" 
    args="-urdf -param robot_description -x 28 -y 4 -z 0 -Y 1.57 -model chassis"/>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find chassis_control)/config/chassis_control.yaml" command="load"/>

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint1_velocity_controller joint2_velocity_controller front_left_steering_position_controller front_right_steering_position_controller  joint_state_controller"/>

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
  </node>

</launch>

Does anyone have any advice?

Thank you in advance!

Hi all,

I am trying to simulate a car-like robot in gazebo for hector mapping and amcl navigation. When I try to record the map, the map does not build up but moves along with the robot. For better understanding I have uploaded 2 images: https://postimg.org/image/c34oos2u9/ https://postimg.org/image/9n2vaxkrl/

Does anyone know what may be the reason for that problem?

Thank you in advance!

Update:

This is how my tf-tree looks like: https://postimg.org/image/3n5ekgkih/ . roswtf is giving me the following output:

WARNING The following node subscriptions are unconnected:
 * /hector_mapping:
   * /syscommand
 * /azcar_sim/obstacleStopperazcar_sim:
   * /azcar_sim/cmd_vel
 * /rviz_1472549092700612555:
   * /map_updates
   * /azcar_sim/lidar_points
 * /gazebo:
   * /gazebo/set_link_state
   * /gazebo/set_model_state

WARNING These nodes have died:
 * azcar_sim/urdf_spawnerazcar_sim-3

Hey, I am trying to build an Ackermann model based on the CAT vehicle package. Since today I get the following error when I try to spawn the model via a launch file, even though it has worked before and I haven't changed anything in the files:

[INFO] [WallTime: 1471962070.626981] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
Segmentation fault (core dumped)
[gazebo-1] process has died [pid 16208, exit code 139, cmd /home/gleb/slam_simulation/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode /home/gleb/slam_simulation/src/catvehicle-1.1.0pre/src/azcar_sim/worlds/skidpan.world __name:=gazebo __log:=/home/gleb/.ros/log/874b8914-6939-11e6-9099-90004e6484d5/gazebo-1.log].
log file: /home/gleb/.ros/log/874b8914-6939-11e6-9099-90004e6484d5/gazebo-1*.log
[azcar_sim/urdf_spawnerazcar_sim-2] process has finished cleanly
log file: /home/gleb/.ros/log/874b8914-6939-11e6-9099-90004e6484d5/azcar_sim-urdf_spawnerazcar_sim-2*.log
[WARN] [WallTime: 1471962100.880121] [0.000000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[azcar_sim/controller_spawnerazcar_sim-3] process has finished cleanly
log file: /home/gleb/.ros/log/874b8914-6939-11e6-9099-90004e6484d5/azcar_sim-controller_spawnerazcar_sim-3*.log

I don't have any idea what could cause the problem and don't know how to resolve it. Could anyone give an advice by any chance?

Thank you in advance!

Hey Jim I'm working on a model of an ackermann steering vehicle and would like to look into your files to get an idea how to implement a controller for the ackermann steering. Unfortunately your package doesn't exist anymore. Would it be possible to upload your package again? Thanks in advance Gleb