LucYang's profile - activity

I want to upload some pictures to show my problem, but I don't have enough points. Therefore, I can only explain it with my poor English. Sorry. I am using a turtlebot2 to do my experiments. It worked well for a long time. But this Monday, after I built a new map or maybe after I decrease the max_vel_x, I found it can not locate itself well any more. I usually start my turtlebot2 at the same position as the position that I start to gmapping. At first, the local_map can match the static map well. But if I send a goal that is a long-distance away, the local_map would drift. Then the local_map can not match the static map well with not only distance but also orientation. I have tried everthing I can think out to fix it, but none of them worked. Need help~~

The map is a big rectangle, about 6m*6m. I can upload now.

It is the most feasible way to reinstall the whole ubuntu. The key operation is to update the ubuntu to the latest. Ther

It is the most feasible way to reinstall the whole ubuntu. The key operation is to update the ubuntu to the latest. Ther

It is the most feasible way to reinstall the whole ubuntu. The key operation is to update the ubuntu to the latest. Ther

For more details to view this web page. link text

It is the most feasible way to reinstall the whole ubuntu. The key operation is to update the ubuntu to the latest. Ther

Hi, I have solved this issue. Once you have meet the error , you can only reinstall system, then follow the installation

Hi, I have solved this issue. Once you have meet the error , you can only reinstall system, then follow the installation

The same. It may be Ubuntu 14.04's problem.See this link text

Hello. I have tried it. My worry is right, because the tf trees on different turtlebot is the same , when I launch the s

Hello. I have tried it. My worry is right, because the tf trees on different turtlebot is the same , when I launch the s

Hello. I have tried it. My worry is right, because the tf trees on different turtlebot is the same , when I launch the s

I can also teleop them by roslaunch turtlebot_teleop keyboard_teleop.launch under different ROS_NAMESPACE. I am trying t

I can also teleop them by roslaunch turtlebot_teleop keyboard_teleop.launch under different ROS_NAMESPACE. I am trying t

Thank you for your advice, I have successfully implemented multi-master with multimaster_fkie. As my turtlebot is not th

It is really good to know someone has done it. Could please help me to ask the other engineers what are their solutions?

So you have done this problem at last? Thank you very much for giving the advice and hope.

Hi,I am trying to run multi turtlebots on one master. Have you solved this problem? I wonder how did you make your tf t

Hello, I wonder if you have solved this problem? If so, please tell me how to do it, I am dealing with the same problem

I wonder if you have done this?Let me know,please.

I wonder if you have done this?Let me know,please.

Can I increase the size of rolling window to help the robot locate itself better?

I did this and the turtlebot2 behaved better, but still not good enough.

No,the map is the same as it was at last week and it worked well. This problem appeared just yesterday.

Turtlebot_navigation issue:local_map drifts after a long-distance movement. I want to upload some pictures to show my pr

I read this answer about how to publish /move_base_simple/goal. But I want to do something further.

Here is my current setup:

First ran:

roslaunch turtlebot_bringup minimal.launch

roslaunch turtlebot_navigation amcl_demo_rplidar.launch map_file:=/home/ubuntu/maps/mymap.yaml

then I try to publish the goals:

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}'

The robot moved.

Then I tried to do something further, so I wrote a node to publish the msg. Here is my code.

#include "std_msgs/String.h"
#include<ros/ros.h>
#include<geometry_msgs/PoseStamped.h>
#include <sstream>

int main(int argc, char **argv)
{

  ros::init(argc, argv, "pub_goal");

  ros::NodeHandle nh;

  ros::Publisher pub = nh.advertise<geometry_msgs::PoseStamped>("/move_base_simple/goal",1) ;

  ros::Rate loop_rate(1);

  int count = 0;
  while (ros::ok())
  {

   geometry_msgs::PoseStamped goal;

   goal.header.frame_id="map";
   goal.pose.position.x=1;
   goal.pose.orientation.w=1;
   goal.pose.orientation.z=0;

   ROS_INFO("%lf",goal.pose.position.x);

   pub.publish(goal);

   ros::spinOnce();

   loop_rate.sleep();

   }


  return 0;
}

After actkin_make, I rosrun it, but something wired happened.

Here is the result:

luc@luc-ThinkPad-T450:~/catkin_ws$ rosrun goal_test publish_goal 
[ INFO] [1510794351.286271377]: 1.000000
[ INFO] [1510794352.286323753]: 1.000000
[ INFO] [1510794353.286425226]: 1.000000
[ INFO] [1510794354.286430381]: 1.000000
[ INFO] [1510794355.286429147]: 1.000000
[ INFO] [1510794356.286306929]: 1.000000

But the turtlebot2 is still.

Then I cancel the process by "ctrl+c", the turtlebot2 moved.

So, I am confused.

Could anyone please tell me how to publish a msg through a node to send simple goal to make my turtlebot2 move?

Sorry for my poor English.

Turtlebot_navigation issue:local_map drifts after a long-distance movement. I want to upload some pictures to show my pr

Turtlebot_navigation issue:local_map drifts after a long-distance movement. I want to upload some pictures to show my pr

Turtlebot_navigation issue:local_map drifts after a long-distance movement. I want to upload some pictures to show my pr

I added ros::Duration d(5); before loop_rate.sleep(); It works.

Thank you! It is exactly the reason what you say.

Question about sending simple goal to navigation stack. I read this answer about how to publish /move_base_simple/goal.