nico_b's profile - activity

How do I use a USB-hokuyo-laserscanner in ros-kinetic? hokuyo_node seems to be working and pretty well documented (since I'm a beginner using ros, that's important for me, too), but it isn't supported for kinetic. urg_node, since it's the newer driver, should also do the job, but I've got no idea on how to use the USB and not an ethernet interface. Is it even possible? Any suggestions and help setting up (in a ros-beginner-friendly way) would be great. Thanks in advance.

Hi,
I'm running ROS Kinetic in Ubuntu 16.04.2 LTS on a Raspberry Pi 3.
My navigation stack is up and running and my robot is able to localize itself in a given map. I'm also able to drive around via a joystick (/input_joy/cmd_vel-topic).
The next step is to drive around in rviz. I am able to set 2D Pose Estimates there, but whenever I'm trying to set a 2D Nav Goal, nothing is happening, except from the arrow and the path being visually displayed in rviz.
Unfortunately, when echoing the /cmd_vel-topic, which is being published by move_base, it always displays the following:

linear: 
  x: 0.0
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: -1.0

As well I get the following error thrown until I kill move_base:

Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.4580 seconds

Since I don't get that error, before setting a 2D Nav Goal, I assume that there is either something wrong in one of my costmaps or move_base settings...

I appreciate all your help. Thanks in advance.
Nico

base_local_planner_params.yaml

TrajectoryPlannerROS:
  max_vel_x: 0.19
  min_vel_x: 0.095
  max_vel_theta: 0.256
  min_in_place_vel_theta: 0.192

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: true
  meter_scoring: true

costmap_common_params.yaml

plugins:
  - {name: static_map,      type: "costmap_2d::StaticLayer"}
  - {name: obstacles,       type: "costmap_2d::VoxelLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.05, 0.05], [0.05, -0.05],[0, -0.10]]
#robot_radius: 0.20
inflation_radius: 0.55

obstacles:
  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
  update_frequency: 0.8
  static_map: false
  width: 5
  height: 2

local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base
  update_frequency: 1.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.05
controller_frequency: 5.0

move_base.launch

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

  <node pkg="move_base" type="move_base" name="move_base" output="screen">
    <rosparam file="/home/ubuntu/catkin_ws/src/project/launch/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="/home/ubuntu/catkin_ws/src/project/launch/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="/home/ubuntu/catkin_ws/src/project/launch/config/local_costmap_params.yaml" command="load" />
    <rosparam file="/home/ubuntu/catkin_ws/src/project/launch/config/global_costmap_params.yaml" command="load" />
    <rosparam file="/home/ubuntu/catkin_ws/src/project/launch/config/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

rqt_graph

rqt_graph on imgur

Thanks a lot, Humpelstilzchen, that solved my problem at least partially! Now, the robot does at least some linear movem

Thanks for your suggestion. Global map and nav goal are loaded and I'm able to see them in rviz. The planned path is vis

Global map and nav goal are loaded and I'm able to see them in rviz. The planned path is visible, too, and it's not bloc

Global map and nav goal are loaded and I'm able to see them in rviz

Robot starts rotating instead of following path to 2D Nav Goal Hi, Following all the steps described in the Navigation t

Problem when setting 2D Nav Goal Hi, I'm running ROS Kinetic in Ubuntu 16.04.2 LTS on a Raspberry Pi 3. My navigation st

Thanks a lot, guys, the problem is solved... I got some bad values set in my base_local_planner_params.yaml-file, which

Ok, I changed that, but still my problem stays the same...

I just added the rqt_graph... Thanks in advance

Problem when setting 2D Nav Goal Hi, I'm running ROS Kinetic in Ubuntu 16.04.2 LTS on a Raspberry Pi 3. My navigation st

Problem when setting 2D Nav Goal Hi, I'm running ROS Kinetic in Ubuntu 16.04.2 LTS on a Raspberry Pi 3. My navigation st

I managed to compile the navigation package from source. By doing that, I solved that problem.Thanks a lot for all your

@burf2000 Sorry, a bit late, but you could use i.e. the laser_scan_matcher.

I'm running Ubuntu 16.04.2 LTS. /opt/ros/kinetic/lib is also included in LD_LIBRARY_PATH. liblayers.so is also existing.

I'm running on Kinetic as well. You mean /opt/ros/kinetic/lib/liblayers.so? I need to have a look at it. Currently I'm r

Thanks for the answer and suggestion. I've seen the instruction as well, but I didn't know what that is telling me at al

Problem with move_base and plugin Hi, I'm trying to set up my navigation stack as described in the navigation tutorial (

Hi,
when I run rosrun urg_node urg_node I get the output [ERROR] [1484133582.989584109]: Unknown error connecting to Hokuyo.
Since the hokuyo_node is the previous version of the urg_node, I git cloned (indigo) it. When running rosrun hokuyo_node hokuyo_node I get the expected result:

[ INFO] [1484134681.274676697]: Connected to device with ID: H0613892
[ INFO] [1484134681.373417311]: Starting calibration. This will take up a few seconds.
[ INFO] [1484134684.471015665]: Calibration finished. Latency is: -0.0821
[ INFO] [1484134684.785325646]: Streaming data.

In both cases I run previously sudo chmod a+rw /dev/ttyACM0.
When I run rosrun urg_node urg_node now (without previously shutting down the laser scanner and running the hokuyo_node first) I get as expected:

[ INFO] [1484134914.006785798]: Connected to serial device with ID: H0613892
[ INFO] [1484134914.946978579]: Streaming data.

So, I guess, when calling the hokuyo_node first, some bit is set and therefore a can use the urg_node.
Do you have any idea, how I may run urg_node without running hokuyo_node first (since hokuyo_node is outdated)? How can I set that given bit?
I'm using an URG-04LX.
Thanks in advance.

I found out, I first have to run hokuyo_node. After that some bit (I don't know yet...) is set and therefore I'm able running the urg_node... Any ideas anyone?

After restarting my system today, it won't work again... Last thing I did yesterday was restarting the system to check whether it works after restart and it did... Why is my sensor not connected today? :(
Btw: Same error as in the post above...

When calling rosrun urg_node urg_node ros is telling me [ERROR] [1483452523.221964309]: Unknown error connecting to Hokuyo . What am I doing wrong?
Edit: Somehow it works now. Thanks again :)