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2018-07-09 13:53:48 -0500 marked best answer Disable global costmap

Hey everyone,

I am currently building a robot with its own global planner plugin. This means that the global planner does not need the global costmap any more, instead it takes a graph (based on a map) provided by a different node.

Now, I want the navigation stack to avoid building the global costmap because that would just waste computation power and time but I still need the map for localization purposes and to be shown in rviz for visualization and setting the start- and goal positions.

When I put this

<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

in my launch file, it will probably automatically produce my costmap, right? Or does it produce the costmap only when I plan my path on it?

Does this question with the answer of David Lu do what I want? He proposes to put this in the global_costmap.yaml to disable the obstacle avoidance:

plugins:
    - {name: static_layer, type: 'costmap_2d::StaticLayer'}

I don't know if that is the right approach.

Edit:

My global_costmap_params.yaml file:

global_costmap:
  global_frame: /map
  robot_base_link: base_link
  update_frequency: 1.0
  publish_frequency: 0.5
  static_map: true
  rolling_window: false
  map_type: costmap
2018-01-12 04:31:15 -0500 commented question How to use Rosjava in Android Studio?

Hi @LeMan, did you figure out how to do this? What were your steps?

2018-01-12 04:28:49 -0500 commented question porting navigation package to android

Hello @xhsoldier, did you already manage to get the navigation package up and running on android? How did you do it?

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2018-01-11 10:41:15 -0500 answered a question How to use Rosjava in Android Studio?

Hi @LeMan, did you figure out how to do this? What were your steps?

2018-01-11 10:03:21 -0500 answered a question porting navigation package to android

Hello @xhsoldier, did you already manage to get the navigation package up and running on android? How did you do it?

2018-01-08 03:28:23 -0500 commented question Laserscan data does not match the static map

No not really. I had some problems with my odometry. Optimizing that helped but the curved lines were still there.

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2017-05-26 02:56:45 -0500 commented answer Disable global costmap

My global planner does not need the global costmap at all. I just need the static map in the beginning to set my start a
2017-05-26 02:47:46 -0500 edited question Disable global costmap

Disable global costmap Hey everyone, I am currently building a robot with its own global planner plugin. This means tha
2017-05-26 02:45:30 -0500 commented answer Disable global costmap

@Procópio : Thank you for your answer! In fact, I'm already using the minimal config you proposed and @Humpelstilzchen i
2017-05-26 02:44:46 -0500 commented answer Disable global costmap

@Procópio : Thank you for your answer! In fact, I'm already using the minimal config you proposed and @Humelstilzchen is
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2017-05-19 07:38:52 -0500 marked best answer amcl tuning for better localization

Hi all,

I'm pretty desperate right now because I can't figure out where my mistake is. I hope someone can enlighten me.

When I try to localize my robot (while driving) the laserscan data moves with it (but it should stay on the obstacles in the static map I use). In detail: I set the robots pose with the "2D Pose Estimate". I drive towards a wall (using robot steering) and as the robot approaches the wall the laserscan data moves towards the robot. As a result of that the robot does not localize properly. Here are two screenshots of rviz for better visualization (before and after driving) Can anyone give me a hint into the right direction?

Any help would be appreciated!
2017-05-18 08:44:38 -0500 commented question amcl tuning for better localization

I'm sorry for the late reply. Thank you for your help but I figured out the problem. It was in the base_controller respo
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2017-05-17 08:19:48 -0500 commented answer move_base robot movement wrong direction

Hey, I have encountered the same problem with my robot. How did you eventually solve this problem? Did just adding the d
2017-05-17 08:09:57 -0500 commented answer move_base robot movement wrong direction

Hey, I have encountered the same problem with my robot. How did you eventually solve this problem?

2017-05-13 10:10:55 -0500 asked a question Disable global costmap

Disable global costmap Hey everyone, I am currently building a robot with its own global planner plugin. This means tha
2017-05-12 08:03:21 -0500 edited question amcl tuning for better localization

amcl tuning for better localization Hi all, I'm pretty desperate right now because I can't figure out where my mistake

2017-05-12 07:53:38 -0500 edited question amcl tuning for better localization

amcl tuning Hi all, I'm pretty desperate right now because I can't figure out where my mistake is. I hope someone can e
2017-05-12 07:49:24 -0500 asked a question amcl tuning for better localization

amcl tuning Hi all, I'm pretty desperate right now because I can't figure out where my mistake is. I hope someone can e
2017-05-08 08:34:00 -0500 edited question Laserscan data does not match the static map

Laserscan data does not match the static map I'm working on an Odroid XU4, have the navigation running and using the RPL
2017-05-08 08:32:14 -0500 asked a question Laserscan data does not match the static map

Laserscan data does not match the static map I'm working on an Odroid XU4, have the navigation running and using the RPL
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2017-05-03 08:22:38 -0500 commented answer Navigation stack never reach goal

In your move_base launch file you put the code that lucasw wrote after the line where you start your move_base node pkg.
2017-05-03 08:21:43 -0500 commented answer Navigation stack never reach goal

In your move_base launch file you put this after the line where you start your move_base node pkg:

2017-05-03 08:21:02 -0500 commented answer Navigation stack never reach goal

In your move_base launch file you put this after the line where you start your move_base node pkg (of course without the
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2017-04-19 06:48:38 -0500 commented question move_base and extrapolation errors into the future

Hey, I have the same problem. What did you finally do to solve it?

2017-04-18 07:30:44 -0500 commented question Could not transform the global plan to the frame of the controller

So after throwing my own plugin out and just using the navigation stack, the last ERROR message doesn't appear anymore. It just posts again and again in an endless loop the WARN and ERROR messages I posted before.
2017-04-18 04:13:18 -0500 asked a question Could not transform the global plan to the frame of the controller

Hello,

I'm working on an Odroid XU4, have the navigation stack up and running and using the RPLIDAR A1 with its corresponding ros package. I made my own global path planner plugin according to this tutorial and I'm using amcl for localisation and a priori known map.

These are my config files:

base_local_planner_params.yaml

 TrajectoryPlannerROS:
   max_vel_x: 0.2
   min_vel_x: 0.05
   max_vel_theta: 0.5
   min_vel_theta: -0.5
   min_in_place_vel_theta: 0.1
   acc_lim_theta: 0.2
   acc_lim_x: 0.1
   acc_lim_y: 0.1
   holonomic_robot: false
   controller_frequency: 3.0

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.170, -0.220], [-0.170, 0.220], [0.170, 0.220], [0.170, -0.220]]
inflation_radius: 0.50
transform_tolerance: 2.0
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 3.0
  publish_frequency: 0.1
  transform_tolerance: 2.0
  static_map: true
  rolling_window: false
  map_type: costmap

local_costmap_params.yaml

local_costmap:
  global_frame: /odom
  robot_base_frame: base_link
  update_frequency: 3.0
  publish_frequency: 1.0
  transform_tolerance: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05
  map_type: costmap

Here are my launch files:

<launch>
  <master auto="start"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find vav_2dnav)/map/map.yaml"/>

  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="planner_plugin/PlannerPluginROS" />
    <param name="planner_frequency" value="0.0" />
    <rosparam file="$(find vav_2dnav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <rosparam file="$(find vav_2dnav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
    <rosparam file="$(find vav_2dnav)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find vav_2dnav)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find vav_2dnav)/config/base_local_planner_params.yaml" command="load"/>
  </node>
</launch>

<launch>
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/rplidar"/>
  <param name="serial_baudrate"     type="int"    value="115200"/>
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  </node>

  <node pkg="tf" type="static_transform_publisher" name="lidar_base_tf_broadcaster" args="0 0 0.22 0 0 0 base_link laser 50" />

  <node name="compare_velocity_master" pkg="io_handler" type="io_handler_compare_velocity_master" respawn="true" /> 
  <node name="iohandler_master" pkg="io_handler" type="iohandler_master_final.py" respawn="true" /> 

</launch>

Once I submit my start and goal location to the navigation stack using rviz, the plugin is used to compute the path but in the end it shows this error:

[ WARN] [1492085935.141434881]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.4691 seconds
[ WARN] [1492085935.687472491]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.5461 seconds
[ WARN] [1492085935.688036031]: Map update loop missed its desired rate of 3.0000Hz... the loop actually took 0.7545 seconds
[ WARN] [1492085936.149723390]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.4622 seconds
[ WARN] [1492085936.694716876]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.5450 ...
(more)
2017-04-18 02:16:36 -0500 edited question Could not transform the global plan to the frame of the controller

Hello,

I'm working on an Odroid XU4, have the navigation stack up and running and using the RPLIDAR A1 with its corresponding ros package. I made my own global path planner plugin according to this tutorial and I'm using amcl for localisation and a priori known map.

These are my config files:

base_local_planner_params.yaml

 TrajectoryPlannerROS:
   max_vel_x: 0.2
   min_vel_x: 0.05
   max_vel_theta: 0.5
   min_vel_theta: -0.5
   min_in_place_vel_theta: 0.1
   acc_lim_theta: 0.2
   acc_lim_x: 0.1
   acc_lim_y: 0.1
   holonomic_robot: false
   controller_frequency: 3.0

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.170, -0.220], [-0.170, 0.220], [0.170, 0.220], [0.170, -0.220]]
inflation_radius: 0.50
transform_tolerance: 2.0
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 3.0
  publish_frequency: 0.1
  transform_tolerance: 2.0
  static_map: true
  rolling_window: false
  map_type: costmap

local_costmap_params.yaml

local_costmap:
  global_frame: /odom
  robot_base_frame: base_link
  update_frequency: 3.0
  publish_frequency: 1.0
  transform_tolerance: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05
  map_type: costmap

Here are my launch files:

<launch>
  <master auto="start"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find vav_2dnav)/map/map.yaml"/>

  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="planner_plugin/PlannerPluginROS" />
    <param name="planner_frequency" value="0.0" />
    <rosparam file="$(find vav_2dnav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <rosparam file="$(find vav_2dnav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
    <rosparam file="$(find vav_2dnav)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find vav_2dnav)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find vav_2dnav)/config/base_local_planner_params.yaml" command="load"/>
  </node>
</launch>

<launch>
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/rplidar"/>
  <param name="serial_baudrate"     type="int"    value="115200"/>
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  </node>

  <node pkg="tf" type="static_transform_publisher" name="lidar_base_tf_broadcaster" args="0 0 0.22 0 0 0 base_link laser 50" />

  <node name="compare_velocity_master" pkg="io_handler" type="io_handler_compare_velocity_master" respawn="true" /> 
  <node name="iohandler_master" pkg="io_handler" type="iohandler_master_final.py" respawn="true" /> 

</launch>

Once I submit my start and goal location to the navigation stack using rviz, the plugin is used to compute the path but in the end it shows this error:

[ WARN] [1492085935.141434881]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.4691 seconds
[ WARN] [1492085935.687472491]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.5461 seconds
[ WARN] [1492085935.688036031]: Map update loop missed its desired rate of 3.0000Hz... the loop actually took 0.7545 seconds
[ WARN] [1492085936.149723390]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.4622 seconds
[ WARN] [1492085936.694716876]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.5450 ...
(more)
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