cclina's profile - activity

Hello, I am trying to use the rbcar_common and rbcar_sim ( http://wiki.ros.org/rbcar_sim?distro=... ) packages to get an rbcar robot to move in Gazebo. The robot uses the skid_steering_plugin according to the wiki. I'm new to ROS and I am finding it hard to realize how to publish topics that will make this robot move.

roslaunch rbcar_gazebo rbcar.launch opens the model in Gazebo and it looks ok. I have then tried all the lauch files in rbcar_navigation but none of them have worked. In particular when I run:

roslaunch rbcar_navigation move_base_amcl.launch

I get

NODES
  /
    amcl (amcl/amcl)
    map_server (map_server/map_server)
    move_base (move_base/move_base)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[map_server-1]: started with pid [6166]
process[amcl-2]: started with pid [6167]
process[move_base-3]: started with pid [6168]
process[rviz-4]: started with pid [6190]
[ INFO] [1477589354.751377650]: Requesting the map...
[ INFO] [1477589354.769636127]: Received a 2432 X 2272 map @ 0.050 m/pix

[ INFO] [1477589354.846352822]: Initializing likelihood field model; this can take some time on large maps...
[ WARN] [1477589354.893053667, 9.535000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 9.535 timeout was 0.1.
[ INFO] [1477589355.146714273, 9.789000000]: Done initializing likelihood field model.
[ WARN] [1477589359.944013281, 14.577000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1477589364.988898232, 19.614000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1477589370.043614880, 24.660000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589370.248725939, 24.864000000]: No laser scan received (and thus no pose updates have been published) for 24.864000 seconds.  Verify that data is being published on the /scan_filtered topic.
[ WARN] [1477589375.087841805, 29.696000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589380.132100474, 34.732000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589385.183140865, 39.772000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1477589385.275841157, 39.864000000]: No laser scan received (and thus no pose updates have been published) for 39.864000 seconds.  Verify that data is being published on the /scan_filtered topic.
[ WARN] [1477589390.231475400, 44.812000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589395.276557064 ...

I installed ros-indigo from source in Xubuntu 14.04 and created a catkin workspace following this tutorial: http://wiki.ros.org/indigo/Installati... . I had to use catkin_make_isolated because I had non-catkin packages in my workspace.

I got everything running in general but my ROS_PACKAGE_PATH includes most of the folders in my src directory and some folders in my install-isolated directory. When I add a new package I need to add it manually to ROS_PACKAGE_PATH, because otherwise rosrun cannot find it. This is getting very frustrating and I think it is resulting in several errors I get when trying to run launch files that search for items in packages I might not have added correctly to ROS_PACKAGE_PATH. I would very grateful if anyone could help me to setup my environment correctly! Thank you very much!!

If I run:

source ~/ros_catkin_ws/install_isolated/setup.bash

printenv | grep ROS

I get

ROS_ROOT=/home/ccorti/ros_catkin_ws/src/ros/rosbuild
ROS_PACKAGE_PATH=/home/ccorti/ros_catkin_ws/src/rbcar_sim/rbcar_gazebo:/home/ccorti/ros_catkin_ws/src/ros_comm/rosbag:/home/ccorti/ros_catkin_ws/src/ros_comm/topic_tools:/home/ccorti/ros_catkin_ws/src/geometry_experimental/tf2_py:/home/ccorti/ros_catkin_ws/src/executive_smach/smach_ros:/home/ccorti/ros_catkin_ws/src/diagnostics/self_test:/home/ccorti/ros_catkin_ws/src/ros_comm/roswtf:/home/ccorti/ros_catkin_ws/src/ros_comm/rostopic:/home/ccorti/ros_catkin_ws/src/ros_tutorials-indigo-devel/rospy_tutorials:/home/ccorti/ros_catkin_ws/src/ros_comm/rosnode:/home/ccorti/ros_catkin_ws/src/image_common/polled_camera:/home/ccorti/ros_catkin_ws/src/ros-indigo-image-view-1.12.13:/home/ccorti/ros_catkin_ws/src/image_common/camera_info_manager:/home/ccorti/ros_catkin_ws/src/image_transport:/home/ccorti/ros_catkin_ws/src/ros_comm/message_filters:/home/ccorti/ros_catkin_ws/src/filters:/home/ccorti/ros_catkin_ws/src/dynamic_reconfigure:/home/ccorti/ros_catkin_ws/src/diagnostics/diagnostic_common_diagnostics:/home/ccorti/ros_catkin_ws/src/diagnostics/diagnostic_updater:/home/ccorti/ros_catkin_ws/src/diagnostics/diagnostic_aggregator:/home/ccorti/ros_catkin_ws/src/cv_bridge:/home/ccorti/ros_catkin_ws/src/image_pipeline-indigo/camera_calibration:/home/ccorti/ros_catkin_ws/src/ros_comm/rosout:/home/ccorti/ros_catkin_ws/src/ros_tutorials-indigo-devel/roscpp_tutorials:/home/ccorti/ros_catkin_ws/src/pcl_conversions:/home/ccorti/ros_catkin_ws/src/nodelet_core/nodelet:/home/ccorti/ros_catkin_ws/src/robot_model/joint_state_publisher:/home/ccorti/ros_catkin_ws/src/robot_model/collada_parser:/home/ccorti/ros_catkin_ws/src/bond_core/bondpy:/home/ccorti/ros_catkin_ws/src/bond_core/bondcpp:/home/ccorti/ros_catkin_ws/src/ros_comm/roscpp:/home/ccorti/ros_catkin_ws/src/ros_comm/xmlrpcpp:/home/ccorti/ros_catkin_ws/src/geometric_shapes:/home/ccorti/ros_catkin_ws/src/common_msgs/visualization_msgs:/home/ccorti/ros_catkin_ws/src/vision_opencv:/home/ccorti/ros_catkin_ws/src/robot_model/urdf_parser_plugin:/home/ccorti/ros_catkin_ws/src/control_msgs/control_msgs:/home/ccorti/ros_catkin_ws/src/common_msgs/trajectory_msgs:/home/ccorti/ros_catkin_ws/src/geometry_experimental/tf2:/home/ccorti/ros_catkin_ws/src/geometry_experimental/tf2_msgs:/home/ccorti/ros_catkin_ws/src/common_msgs/stereo_msgs:/home/ccorti/ros_catkin_ws/src/ros_comm_msgs/std_srvs:/home/ccorti/ros_catkin_ws/src/executive_smach/smach_msgs:/home/ccorti/ros_catkin_ws/src/common_msgs/shape_msgs:/home/ccorti/ros_catkin_ws/src/pcl_msgs:/home/ccorti/ros_catkin_ws/src/map_msgs:/home/ccorti/ros_catkin_ws/src/image_geometry:/home/ccorti/ros_catkin_ws/src/image_common/camera_calibration_parsers:/home/ccorti/ros_catkin_ws/src/common_msgs/sensor_msgs:/home/ccorti/ros_catkin_ws/src/ros_comm_msgs/rosgraph_msgs:/home/ccorti/ros_catkin_ws/src/common_msgs/nav_msgs:/home/ccorti/ros_catkin_ws/src/navigation/move_base_msgs:/home/ccorti/ros_catkin_ws/src/geometry/kdl_conversions:/home/ccorti/ros_catkin_ws/src/geometry/eigen_conversions:/home/ccorti/ros_catkin_ws/src/common_msgs/geometry_msgs:/home/ccorti/ros_catkin_ws/src/common_msgs/diagnostic_msgs:/home/ccorti/ros_catkin_ws/src/bond_core/bond:/home/ccorti/ros_catkin_ws/src/common_msgs/actionlib_msgs:/home/ccorti/ros_catkin_ws/src/std_msgs ...