xnick77x's profile - activity

I don't know about your price range, but clearpath has a nice line of robots. I haven't personally worked with them, but

Try following this, and see if all your tf frames are connected. I've experienced cases where there were two unconnected

Hey all,

I am running the ROS naviagation stack with a 360 degree lidar. After running a couple paths. the local costmap from the lidar seems to fill up with "ghost objects" until the robot can no longer generate a path to the destination. I looked for methods to clear or reset to local costmap, but didn't find much on it, so my new approach is to restart the move_base node.

I want to restart the move_base node from where I send the action_lib goal, so that the local_costmap can restart. I found this; however I have not found out how to set parameters for the node. I also would prefer not to write the path to the .launch file (the second example) to avoid having to manually write the path on each new robot/system.

TLDR; Is there a method to clear the local costmap? Or is there a good way to restart the move_base node programmatically from where I send an actionlib goal?

Hi, I am trying to run a turtlebot 2 with and RPLidar. I launch the RPLidar node and the turtlebot bring up followed by the move_base from the tutorial ( http://wiki.ros.org/navigation/Tutori... ).

Currently I am running into this error: [ WARN] [1500061606.588011960]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: . canTransform returned after 0.101218 timeout was 0.1.

I also don't think my tf_tree looks correct: https://drive.google.com/file/d/0B-2f...

Even after reading the tf wiki page, I am having trouble understanding how to configure it and integrate tf into my project. There is no "map" transformation, and there are two separate trees...

Any help would be appreciated!

You need to clone the turtlebot 3 github repository on your remote PC in addition to the tb3 shown in section 5.2.1. Th

local_costmap "ghost objects"; Restarting move_base Hey all, I am running the ROS naviagation stack with a 360 degree l

The method to setup the tb3 involves setting up the PC as the master. This allows all topics to be accessed by both the

I'm having the same issue. Did you fix this?

I restarted everything and it worked. I guess the issue was the frame_id. Thanks for the help

I am running a turtlebot 2 with an RPLidar instead of a Kinect, trying to get the navigation stack working.

I am unable to get AMCL to transform map to odom. My current tf tree looks like this: https://drive.google.com/file/d/0B-2f...

I am running two transform scripts between base_link and base_footprint, and base_link and base_laser. When I execute move_base.launch, I get the following error: [ WARN] [1500318096.546547244]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: . canTransform returned after 0.100719 timeout was 0.1.

In my launch file, I have: <include file="$(find tb2_2dnav)/launch/amcl.launch.xml" /> which references:

<launch>
  <arg name="scan_topic"     default="scan"/>
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>

  <node pkg="amcl" type="amcl" name="amcl">

    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="3000"/>
    <param name="kld_err"                   value="0.02"/>
    <param name="update_min_d"              value="0.20"/>
    <param name="update_min_a"              value="0.20"/>
    <param name="resample_interval"         value="1"/>
    <param name="transform_tolerance"       value="0.5"/>
    <param name="recovery_alpha_slow"       value="0.00"/>
    <param name="recovery_alpha_fast"       value="0.00"/>
    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
    <param name="gui_publish_rate"          value="50.0"/>

    <remap from="scan"                      to="$(arg scan_topic)"/>
    <param name="laser_max_range"           value="3.5"/>
    <param name="laser_max_beams"           value="180"/>
    <param name="laser_z_hit"               value="0.5"/>
    <param name="laser_z_short"             value="0.05"/>
    <param name="laser_z_max"               value="0.05"/>
    <param name="laser_z_rand"              value="0.5"/>
    <param name="laser_sigma_hit"           value="0.2"/>
    <param name="laser_lambda_short"        value="0.1"/>
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="laser_model_type"          value="likelihood_field"/>

    <param name="odom_model_type"           value="diff"/>
    <param name="odom_alpha1"               value="0.1"/>
    <param name="odom_alpha2"               value="0.1"/>
    <param name="odom_alpha3"               value="0.1"/>
    <param name="odom_alpha4"               value="0.1"/>
    <param name="odom_frame_id"             value="odom"/>
    <param name="base_frame_id"             value="base_footprint"/>

  </node>
</launch>

I'm not sure what I'm doing wrong and why AMCL is not transforming map to odom.

Edit:

This morning I noticed that I also get this message: [ WARN] [1500393926.336248116]: No laser scan received (and thus no pose updates have been published) for 1500393926.336100 seconds. Verify that data is being published on the /scan topic. I verified that the /scan topic was being published to and that the base_scanner was connected in my tf tree.

I also received this warning: [ WARN] [1500394267.315925339]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcandl.message_notifier] rosconsole logger to DEBUG for more information. so I did as said and got:
[DEBUG] [1500393934.597976349]: MessageFilter [target=odom ]: Removed oldest message because buffer is full, count
[DEBUG] [1500393933.564483123]: MessageFilter [target=odom ]: Added message in frame laser at time 1500393933.356, count now 100

rostopic info /scan : https://www.pastiebin.com/596e3ca4ac1db
rosnode info /amcl : https://www.pastiebin.com/596e3b8b37865

I changed the frame_id in the params in the launch file to match base_laser, but that hasn't fixed any of my errors/warn

Following http://wiki.ros.org/android/Tutorials... :

When I catkin_make I get the following error msg:

path-to-android-sdk/build-tools/25.0.2/aapt: 3: path-to-android-sdk/build-tools/25.0.2/aapt: Syntax error: Unterminated quoted string

:android_10:processReleaseResources FAILED

FAILURE: Build failed with an exception.

What went wrong: Execution failed for task ':android_10:processReleaseResources'. com.android.ide.common.process.ProcessException: Failed to execute aapt

Per other threads I've attempted rolling back my build tools version to 23.0.3 however 25.0.2 gets re-added and used.

Appended to my question. Thanks. I did notice that in rostopic echo /scan the frame_id is laser but in the tf_tree, it's

Appended to my question. Thanks. I did notice that in rostopic echo /scan' the frame_id islaser` but in the tf_tree, it'

Appended to my question. Thanks I did notice that in rostopic echo /scan' the frame_id islaser` but in the tf_tree, it's

ROS Navigation - AMCL not transforming map to odom I am running a turtlebot 2 with an RPLidar instead of a Kinect, tryin

Appended to my question. Thanks

ROS Navigation - AMCL not transforming map to odom I am running a turtlebot 2 with an RPLidar instead of a Kinect, tryin

I added the screen output and didn't see any change. Instead I tried the debug logger as my edit to my question says. I

ROS Navigation - AMCL not transforming map to odom I am running a turtlebot 2 with an RPLidar instead of a Kinect, tryin

ROS Navigation - AMCL not transforming map to odom I am running a turtlebot 2 with an RPLidar instead of a Kinect, tryin

I assume you're following this: http://turtlebot3.robotis.com/en/latest/bringup.html Assuming you have the ros master h

Navigation Stack transform base_link to /map error Hi, I am trying to run a turtlebot 2 with and RPLidar. I launch the R

Update: The issue was, that for some reason I was using a 32bit version of Ubuntu and Android Studio now only supports 6

Error when building android_core Following http://wiki.ros.org/android/Tutorials/kinetic/Installation%20-%20ROS%20Develo