alhouty808's profile - activity

Hello,

I have successfully implemented tutorial 3 on my turtlebot. My only problem is the accuracy of the generated map using nav2d mapper. You can find below a comparison between a map generated by gmapping node and mapper node.

my setup is a Turtlebot with Asus Xtion Pro.

Nav2d Mapper

gmapping

as you can see, the map of nav2d is distorted. how can i resolve this problem ? since i need nav2d mapper for multi mapping.

Thank you in advance,

Solved by replacing the parameter of "laser_frame: laser" to "laser_frame: camera_link" in ros.yaml.

Thank you all,

Hello,

I have done the four tutorial of Nav2d package using stage simulator with success. then, i did tutorial 1 using my Turtlebot, the operator works perfectly and the costmap has no problem. However, i tried to do tutorial 3.The mapper did not produce map but the cost map exists. I noticed that when i call /StartMapping, the robot will only travel for 1 m without doing 360°. Below you can find all the needed information.

tf tree

rqt_graph

RVIZ screenshot

costmap

map

Launch File

<launch>


<rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>




<!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >

    <remap from="cmd_vel" to="mobile_base/commands/velocity"/>
    <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">

    <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
</node>

<!-- Start the Navigator to move the robot autonomously--> 
<node name="Navigator" pkg="nav2d_navigator" type="navigator">
    <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
</node>

<node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
<node name="Explore" pkg="nav2d_navigator" type="explore_client" />
<node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />



<!-- RVIZ to view the visualization -->
<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial3.rviz" />

</launch>

ros.yaml

# Defines topics services and frames for all modules

### TF frames #############################################
laser_frame: laser
robot_frame: base_link
odometry_frame: odom
offset_frame: offset
map_frame: map

### ROS topics ############################################
map_topic: map
laser_topic: scan

### ROS services ##########################################
map_service: static_map

mapper.yaml

### Mapper ################################################

grid_resolution: 0.1
range_threshold: 10.0
map_update_rate: 5
publish_pose_graph: true
max_covariance: 0.01
transform_publish_period: 0.1
min_map_size: 20

### Localizer #############################################

min_particles: 2500
max_particles: 10000

### Karto #################################################

# For a full list of available parameters and their
# corresponding default values, see OpenKarto/OpenMapper.h

MinimumTravelDistance: 1.0
MinimumTravelHeading: 0.52
LoopSearchMaximumDistance: 10.0

###########################################################

Thank you in advance,

Hello Gentlemen,

I am trying to implement tutorial 3 on my turtlebot. when i call "StratMapping" nothing happens.i am probably facing problems in tf tree.

here is my launch file

<launch>

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



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

<!-- Start the Navigator to move the robot autonomously -->
<node name="Navigator" pkg="nav2d_navigator" type="navigator">
    <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
</node>

<node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
<node name="Explore" pkg="nav2d_navigator" type="explore_client" />
<node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />



<!-- RVIZ to view the visualization -->
<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial3.rviz" />

</launch>

ros.yml

        # Defines topics services and frames for all modules

        ### TF frames #############################################
    laser_frame: base_laser_link 
    robot_frame: base_link 
    odometry_frame: odom 
    offset_frame: offset 
    map_frame: map

        ### ROS topics ############################################ 
     map_topic: map laser_topic: scan

        ### ROS services ########################################## 
      map_service: static_map

qrt_graph

tf_tree

I would appreciate your help,

I hope you didn't forget me here is my log file log file

as a binary package. here is log file

my boost-version is : 1.54.0.1ubuntu1 i haven't installed another boost version ever.

Thank you for your reply. I really appreciate your time.

Hello everybody,

i'm using Ubuntu 14.04 LTS and ROS Indigo

i'm trying to launch tutorial 3 for nav2d package. but it seems that there's error in the mapper.

all what i did is first i launched the toturial3

roslaunch nav2d_tutorials tutorial3.launch

then in a separate terminal i call these services as instructed since i don't have a joystick.

rosservice call /StartMapping 3
rosservice call /StartExploration 2

here is the screen shots of the errors.

here is my rqt_graph

here is my tf view_frames

frames.gv

Thank you in advance.