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2018-08-08 01:21:42 -0500 marked best answer [move_base] make_plan service is returning an empty path

Hi!

I am working on autonomous exploration, and I am using move_base package for navigation tasks.

I wanted to use make_plan service of move_base package, but it's returning me an empty path even if the destination is reachable if you send it as a goal.

Has anyone faced with the same issue?

Here the code which calls make_plan service:

geometry_msgs::PoseStamped Start;
    Start.header.seq = 0;
    Start.header.stamp = Time(0);
    Start.header.frame_id = "map";
    Start.pose.position.x = x1;
    Start.pose.position.y = y1;
    Start.pose.position.z = 0.0;
    Start.pose.orientation.x = 0.0;
    Start.pose.orientation.y = 0.0;
    Start.pose.orientation.w = 1.0;

geometry_msgs::PoseStamped Goal;
    Goal.header.seq = 0;
    Goal.header.stamp = Time(0);
    Goal.header.frame_id = "map";
    Goal.pose.position.x = x2;
    Goal.pose.position.y = y2;
    Goal.pose.position.z = 0.0;
    Goal.pose.orientation.x = 0.0;
    Goal.pose.orientation.y = 0.0;
    Goal.pose.orientation.w = 1.0;

ServiceClient check_path = nh_.serviceClient<nav_msgs::GetPlan>("make_plan");
    nav_msgs::GetPlan srv;
    srv.request.start = Start;
    srv.request.goal = Goal;
    srv.request.tolerance = 1.5;

    ROS_INFO("Make plan: %d", (check_path.call(srv) ? 1 : 0));
    ROS_INFO("Plan size: %d", srv.response.plan.poses.size());

Here is the code to send MoveBaseGoal which works and robot moves to the same destination:

move_base_msgs::MoveBaseGoal move_goal;

    move_goal.target_pose.header.frame_id = "map";
    move_goal.target_pose.header.stamp = Time(0);

    move_goal.target_pose.pose.position.x = x;
    move_goal.target_pose.pose.position.y = y;
    move_goal.target_pose.pose.position.z = 0.0;
    move_goal.target_pose.pose.orientation.x = 0.0;
    move_goal.target_pose.pose.orientation.y = 0.0;
    move_goal.target_pose.pose.orientation.w = 1.0;

    ROS_INFO("Sending goal");
    ac_.sendGoal(move_goal,
             boost::bind(&ExploreAction::doneCb, this, _1, _2));
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2017-06-22 04:32:01 -0500 edited answer ROS navigation stack with dynamic map

move_base package works well with both planning and obstacle avoidance, the only things needed are proper configuration

2017-06-22 04:31:42 -0500 edited answer ROS navigation stack with dynamic map

move_base package works well with both planning and obstacle avoidance, the only things needed are proper configuration

2017-06-22 04:31:15 -0500 answered a question ROS navigation stack with dynamic map

move_base package works well with both planning and obstacle avoidance, the only things needed are proper configuration

2017-06-21 08:48:47 -0500 edited question [move_base] make_plan service is returning an empty path

[move_base] make_plan service is returning an empty path Hi! I am working on autonomous exploration, and I am using mov

2017-06-21 08:47:51 -0500 asked a question [move_base] make_plan service is returning an empty path

[move_base] make_plan service is returning an empty path Hi! I am working on autonomous exploration, and I am using mov

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2017-02-09 03:28:37 -0500 commented answer Gazebo: Could not load controller, JointTrajectoryController does not exist (Mastering ROS chapter 10)

I see, thanks!

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2017-02-08 12:04:03 -0500 answered a question Gazebo: Could not load controller, JointTrajectoryController does not exist (Mastering ROS chapter 10)

I've resolved it by installing all available controllers: sudo apt-get install ros*controller*

Maybe, it is not the right way, because you don't really find a missing dependency in this way. But somehow I couldn't find anywhere that I can just install joint controller itself: sudo apt-get install ros-kinetic-joint-trajectory-controller

2017-02-08 12:01:16 -0500 commented answer Gazebo: Could not load controller, JointTrajectoryController does not exist (Mastering ROS chapter 10)

I felt it is a wrong way since I just installed all controllers, without finding out exactly which one was missing. I will post it as an answer as you suggested. Thank you!

2017-02-08 11:02:49 -0500 edited question Gazebo: Could not load controller, JointTrajectoryController does not exist (Mastering ROS chapter 10)

Hi!

I am new in ROS, and I was reading a book "Mastering ROS". But I am having an issue with loading controllers in Gazebo, from chapter 10. Working with perception using MoveIt! and Gazebo. Even though I just copied code from the repo. (Actually, the same issue appeared on chapter 3 or 4). Logs are following:

[ERROR] [1486485132.488395779, 0.283000000]: Could not load controller 'seven_dof_arm_joint_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist.
[ERROR] [1486485132.488718126, 0.283000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[INFO] [1486485132.533815, 0.295000]: Started controllers: joint_state_controller
[ERROR] [1486485133.491534, 0.560000]: Failed to load seven_dof_arm_joint_controller
[INFO] [1486485133.494729, 0.560000]: Loading controller: gripper_controller
[ERROR] [1486485133.520919999, 0.566000000]: Could not load controller 'gripper_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist.
[ERROR] [1486485133.521358891, 0.566000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1486485134.523407, 1.095000]: Failed to load gripper_controller

I think, it is because I'm using Ubuntu 16.04 and Kinetic, whereas in the book the system was 14.04 and Indigo.

How can I resolve this issue? Any ideas?

EDIT1: I changed some urdf files because I had same issue as here

UPD: I've resolved it by installing all available controllers: sudo apt-get install ros*controller*

I know, it is not the right way, but somehow I couldn't find anywhere that I can install joint controller itself sudo apt-get ros-kinetic-joint-trajectory-controller. Maybe it was too obvious. I found it in the new packages list when I ran the command above.

The following NEW packages will be installed: ros-kinetic-bhand-controller ros-kinetic-diff-drive-controller ros-kinetic-dynamixel-controllers ros-kinetic-dynamixel-driver ros-kinetic-dynamixel-msgs ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-controllers ros-kinetic-dynamixel-workbench-msgs ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-force-torque-sensor-controller ros-kinetic-gripper-action-controller ros-kinetic-imu-sensor-controller ros-kinetic-joint-trajectory-controller ros-kinetic-kobuki-controller-tutorial ros-kinetic-md49-base-controller ros-kinetic-md49-messages ros-kinetic-md49-serialport ros-kinetic-nav-pcontroller ros-kinetic-robot-controllers ros-kinetic-robot-controllers-interface ros-kinetic-robot-controllers-msgs ros-kinetic-robotis-controller-msgs ros-kinetic-ros-controllers ros-kinetic-rqt-controller-manager ros-kinetic-rqt-joint-trajectory-controller ros-kinetic-velocity-controllers ros-kinetic-view-controller-msgs ros-kinetic-yocs-diff-drive-pose-controller ros-kinetic-yocs-safety-controller

Thanks!

2017-02-08 11:02:49 -0500 received badge  Editor (source)
2017-02-08 10:57:31 -0500 commented answer Gazebo: Could not load controller, JointTrajectoryController does not exist (Mastering ROS chapter 10)

I have resolved it, but not in the correct way.. I just installed all available controllers by running sudo apt-get install ros*controller* Now everything works. I will try to find out which controller was missing. Thanks a lot!