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2018-05-16 02:00:56 -0500 marked best answer Unable to go straight ahead with move_base

Our robot is just turning on itself, whatever we ask it. It is heavy and has an important inertia.

However, the turning direction keeps to be the same. We wonder why it does not go straight ahead.

Here is the launch file:

<launch>
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS" />
    <rosparam file="$(find mv_fiveco)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find mv_fiveco)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find mv_fiveco)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find mv_fiveco)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find mv_fiveco)/param/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

Here is base_local_planner_params.yaml :

controller_frequency: 2.0  

TrajectoryPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.06
  min_vel_x: 0.01 # forward
  max_vel_theta: 0.02
  min_vel_theta: -0.02
  min_in_place_vel_theta: 0.01

  acc_lim_theta: 0.005
  acc_lim_x: 0.01
  acc_lim_y: 0.0

  holonomic_robot: false

# Goal Tolerance Parameters
  yaw_goal_tolerance: 0.3
  xy_goal_tolerance: 0.5
  latch_xy_goal_tolerance: true

  meter_scoring: true

Here is costmap_common_params.yaml:

footprint: [[-0.65, -0.33], [-0.65, 0.33], [0.65, 0.33], [0.65, -0.33]]
obstacle_range: 1.5
raytrace_range: 2.0
inflation_radius: 0.45
robot_base_frame: base_footprint
width: 20
height: 20
resolution: 0.05
transform_tolerance: 0.8
observation_sources: scan
scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true}

Here is global_costmap_param.yaml:

global_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 1.5
  publish_frequency: 1.0
  static_map: true
  transform_tolerance: 1.0
  resolution: 0.1

Here is local_costmap_param.yaml:

local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 1.5
  publish_frequency: 1.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0

Here is a bagfile.

2018-05-16 02:00:52 -0500 answered a question Unable to go straight ahead with move_base

Thanks to @David Lu, we look over another TrajectoryPlanner. DWA brings us what we expected.

2018-05-16 01:59:32 -0500 commented question Unable to go straight ahead with move_base

/cmd_vel showed only rotation and translation.

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2018-05-15 12:12:35 -0500 asked a question Unable to go straight ahead with move_base

Unable to go straight ahead with move_base Our robot is just turning on itself, whatever we ask it. It is heavy and has

2018-05-11 08:00:00 -0500 edited answer robot_localization

However, when i control the robot platform spin around many times, the error between package output and real pa

2018-05-11 07:59:49 -0500 edited answer robot_localization

However, when i control the robot platform spin around many times, the error between package output and real pa

2018-05-11 07:59:31 -0500 answered a question robot_localization

However, when i control the robot platform spin around many times, the error between package output and real pa

2018-05-04 05:32:04 -0500 commented answer Can't copy same data than IMU with robot_localization

Completely right thanks!

2018-05-04 05:31:46 -0500 marked best answer Can't copy same data than IMU with robot_localization

I have troubles with robot_localization. So I decided to test only data from the Madgwick filter obtained from my IMU.

However, results provided by robot_localization are far from these data.

Here is the bagfile

Here is the launch file:

 <?xml version="1.0"?>
 <launch>
 <node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_madgwick" output="screen" respawn="false" >
 <param name="fixed_frame" value="base_link" />
 <param name="use_mag" value="true" />
 <param name="use_magnetic_field_msg" value="true" />
 <param name="publish_tf" value="true" />
 </node>

<node pkg="nodelet" type="nodelet" name="imu_manager"
 args="manager" output="screen" />

 <node pkg="nodelet" type="nodelet" name="PhidgetsImuNodelet"
   args="load phidgets_imu/PhidgetsImuNodelet imu_manager"
   output="screen">
   <param name="period" value="4"/>
 </node>
 <node pkg="tf2_ros" type="static_transform_publisher" name="baselink_imu"        args="0 0 0.0 0 0 0 base_link imu" />
 <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
  <param name="frequency" value="5"/>
  <param name="sensor_timeout" value="0.1"/>
  <param name="imu0" value="/imu/data"/>
  <param name="two_d_mode" value="false"/>
  <rosparam param="imu0_config">[false, false, false, true,  true,  true, false, false, false, true,  true,  true, true,  true,  true]</rosparam>

  <param name="imu0_remove_gravitational_acceleration" value="true"/>
  <param name="debug"           value="true"/>
  <param name="debug_out_file"  value="~/debug_ekf_localization.txt"/>

  <param name="publish_acceleration" value ="true"/>
  <param name="publish_tf" value ="true"/>

  <param name="odom_frame" value="odom"/>
  <param name="base_link_frame" value="base_link"/>
  <rosparam param="initial_estimate_covariance">
                     [1e-9, 0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                      0,    1e-9, 0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                      0,    0,    1e-9, 0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                      0,    0,    0,    100, 0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                      0,    0,    0,    0,    100, 0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                      0,    0,    0,    0,    0,    100, 0,    0,    0,    0,     0,     0,     0,    0,    0,
                      0,    0,    0,    0,    0,    0,    1e-9, 0,    0,    0,     0,     0,     0,    0,    0,
                      0,    0,    0,    0,    0,    0,    0,    1e-9, 0,    0,     0,     0,     0,    0,    0,
                      0,    0,    0,    0,    0,    0,    0,    0,    1e-9, 0,     0,     0,     0,    0,    0,
                      0,    0,    0,    0,    0,    0,    0,    0,    0,    100,  0,     0,     0,    0,    0,
                      0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     100,  0,     0,    0,    0,
                      0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     100,  0,    0,    0,
                      0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     100, 0,    0,
                      0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    100, 0,
                      0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    100]</rosparam>
</node>
</launch>

Here is what I get from /imu/data:

---
header: 
  seq: 13861
  stamp: 
    secs: 1525363752
    nsecs: 950200058
  frame_id: "imu"
orientation: 
  x: -0.348316741047
  y: -0.602712667954
  z: 0.590834173906
  w: 0.407833135901
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: 0.00855211333477
  y: 0.0 ...
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2018-05-03 11:45:50 -0500 edited question Can't copy same data than IMU with robot_localization

Can't copy same data than IMU with robot_localization I have troubles with robot_localization. So I decided to test only

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2018-05-03 11:40:58 -0500 edited question Can't copy same data than IMU with robot_localization

Can't copy same data than IMU with robot_localization I have troubles with robot_localization. So I decided to test only

2018-05-03 11:36:06 -0500 asked a question Can't copy same data than IMU with robot_localization

Can't copy same data than IMU with robot_localization I have troubles with robot_localization. So I decided to test only

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2017-10-23 04:39:47 -0500 asked a question Can't work out Gmapping tutorial on Kinetic

Can't work out Gmapping tutorial on Kinetic I am trying to do the gmapping tutorial like here: http://wiki.ros.org/slam_