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2019-03-05 14:49:45 -0500 marked best answer Using teb_local_planner's feedback_msg for control

Are there any potential issues with using the trajectory points from teb_local_planner's /feedback_msg topic as the primary method of control?

By this, I mean that there is a separate node which subscribes to the /feedback_msg topic, and based on the trajectory points, the node calculates a throttle, braking, and steering value to send to the vehicle controllers. /enable_homotopy_class_planning will probably be set to true.

2018-09-14 17:28:30 -0500 marked best answer Empty Costmap using PointCloud2

When I run rostopic echo /move_base/local_costmap/costmap, the costmap data is filled with zeros even though it has a pointcloud2 observation source. Below are all the costmap params and the two launch files I run at startup.

costmap_common_params.yaml:

obstacle_range: 25
raytrace_range: 25
footprint: [[1.65, 1.02], [2, 0], [1.65, -1.02], [-1.65,-1.02], [-1.65,1.02]]
footprint_padding: 1
inflation_radius: 6
max_obstacle_height: 100

observation_sources: velodyne

velodyne: {sensor_frame: velodyne, data_type: PointCloud2, topic: velodyne_points, marking: true, clearing: true, min_obstacle_height: -10, obstacle_range: 25, raytrace_range: 25}

plugins:
 - {name: obstacle, type: "costmap_2d::ObstacleLayer"}
 - {name: inflation, type: "costmap_2d::InflationLayer"}

obstacle:
  track_unknown_space: true

global_costmap_params.yaml:

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 1.0
  static_map: false
  rolling_window: true

local_costmap_params.yaml:

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 1.0
  publish_frequency: 0.5
  static_map: false
  rolling_window: true
  width: 10.0
  height: 10.0
  resolution: 0.025
  origin_x: 0.0

move_base.launch:

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

  <!-- Run the map server -->
  <!--  <node name="map_server" pkg="map_server" type="map_server" args="$(find map_server)/tutorialMap.pgm 0.05"/> -->


  <!--- Run AMCL -->
  <!--  <include file="$(find amcl)/examples/amcl_omni.launch" /> -->

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find bolt_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find bolt_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find bolt_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find bolt_2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find bolt_2dnav)/base_local_planner_params.yaml" command="load" />
    <param name="odom_frame_id" value="odom"/>
    <param name="base_frame_id" value="base_link"/>
    <param name="global_frame_id" value="map"/>
  </node>
</launch>
  origin_y: 0.0
  min_obstacle_height: -10.0

robot_configuration.launch:

<launch>
  <node pkg="robot_setup_tf" type="odom" name="odom" output="screen">
  </node>

  <node pkg="robot_setup_tf" type="tf_broadcaster" name="tf_broadcaster" output="screen">
  </node>

  <!-- <param name ="/use_sim_time" value="true"/> -->

  <node pkg="tf" type="static_transform_publisher" name="map_odom_tf_broadcaster" args="0 0 0 0 0 0 1 map odom 10" />

</launch>
2018-06-27 01:37:01 -0500 marked best answer How to set via-points through code?

The TEB local planner has a tutorial ( http://wiki.ros.org/teb_local_planner... ) on setting via-points in Rviz, but it does not explain how to set them in code. Anyone know how I can do this?

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2018-02-17 22:51:12 -0500 commented answer Use variables in main from callback

This did not work for me until I deleted loop_rate.sleep(); , ros::spin(); , return 0;. Then I had to add the following

2018-02-17 22:50:34 -0500 commented answer Use variables in main from callback

This did not work for me until I deleted loop_rate.sleep(), ros::spin(), return 0. Then I had to add the following lines

2018-02-17 22:50:18 -0500 commented answer Use variables in main from callback

This did not work for me until I deleted loop_rate.sleep(), ros::spin(), return 0. Then I had the following lines inside

2018-02-10 20:47:05 -0500 commented question How to set via-points through code?

I added a subscriber that takes points and pushes them to the viapoint container. Now the path is attracted to viapoints

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2018-02-02 21:29:57 -0500 commented answer How to set via-points through code?

This does not work unless I'm running the teb_local_planner's tutorial script (test_optim_node.cpp). Is there a differen

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2018-01-29 16:10:48 -0500 commented answer How to set via-points through code?

I can probably make it work with one point, but I'd like to know if there is a way to add more than one via_point at a t

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2018-01-29 09:51:12 -0500 asked a question How to set via-points through code?

How to set via-points through code? The TEB local planner has a tutorial (http://wiki.ros.org/teb_local_planner/Tutorial

2018-01-23 18:20:58 -0500 commented answer message_filters::sync::ApproximateTime does not work properly

Did you ever figure out how to fix this? I have a similar problem.

2018-01-21 18:24:52 -0500 asked a question Using teb_local_planner's feedback_msg for control

Using teb_local_planner's feedback_msg for control Are there any potential issues with using the trajectory points from

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2017-11-30 01:48:44 -0500 commented answer Empty Costmap using PointCloud2

Thanks for the response. I tried this solution but it seems to be outputting empty still.

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2017-11-29 23:29:43 -0500 edited question Empty Costmap using PointCloud2

Empty Costmap using PointCloud2 When I run rostopic echo /move_base/local_costmap/costmap, the costmap data is filled wi

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2017-11-20 02:08:28 -0500 asked a question Empty Costmap using PointCloud2

Empty Costmap using PointCloud2 When I run rostopic echo /move_base/local_costmap/costmap, the costmap data is filled wi

2017-11-19 10:34:45 -0500 commented question Start with costmap_2d

same. let me know if you figure this out.

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