rayvburn's profile - activity

[ROS Kinetic, Ubuntu 16.04]

Hello, I have a problem with sensor frames in rviz. I have created a static trasform broadcaster that publishes all static transforms of my robot (did it according to http://wiki.ros.org/tf2/Tutorials ). Map->odom tf is created temporarily as static, until I integrate some SLAM module. Now map and odom coordinate systems are placed in the same position. Odom->base link is published by ros_controllers node. The tf tree looks as follows:

However when I start a visualization in rviz I can't see any sensor_msgs::Range data (from any of my 3 sonars) but I can choose corresponding topics. Rviz shows error (example, shows similar for other sonars):

"Transform [sender=unknown_publisher] - For frame [base_sonarF]: Frame [base_sonarF] does not exist".

I am really confused as you can see on the tf_tree that the system recognizes transforms I'm publishing. Is it rviz error or I did something wrong? In my URDF file I didn't create any joints for sonars, only for wheels and base, if that matters. When I'm echoing sonar topics everything seems to be right, especially distances from obstacles.

I've found same issue in other questions but none of the solutions worked (like adding marker in rviz, making sonar's frame a fixed frame).

Thanks in advance.

It's something like Project->Properties->C/C++ General->Paths and Symbols or Preprocessor Include Paths, Macros

Have a look at this: ETHZ You should also remember to set manually in Eclipse include path to your c++ std libs directo

No, sorry, I didn't need velocity filtering. Anyway, I'm glad I could help you a little.

Unfortunately I had no luck. Finally used this package pid and it worked perfectly. EDIT: I forgot to post a link to my

Unfortunately I had no luck. Finally used this package pid and it worked perfectly.

Unfortunately I had no luck. Finally used this package http://wiki.ros.org/pid and it worked perfectly.

Hello, I'm having trouble trying to make my move_base constantly subscribe to a certain topic to load current SLAM-made map. There are some related questions here like this, this, this but none of them helped.

I mean that I would like move_base node to update map it is using with the one that is published to a given topic and periodically updated.

I'm using visual SLAM. I have PCL data but can't use it directly as I have to perform some space clearing operations. Ready to use map is published as a ROS message of type nav_msgs/OccupancyGrid and correctly visualized in rViz.

What's problematic here is that I can successfully use static_map loaded from file but I have no idea how to use dynamically published map instead of direct sensor stream.

Here are my current configuration files:

global_costmap:
  global_frame: "map"
  robot_base_frame: "base_link"
  transform_tolerance: 20.0
  update_frequency: 2.0 
  publish_frequency: 1.0
  rolling_window: true 
  always_send_full_costmap: true
  static_map: false
  map_type: costmap

Local costmap:

local_costmap:
  global_frame: "odom" 
  robot_base_frame: "base_link"
  transform_tolerance: 10.0 

  update_frequency: 1.0
  publish_frequency: 0.5

  rolling_window: true
  always_send_full_costmap: true
  static_map: false
  map_type: costmap

  # ---- Following most likely replaced by static map layer
  width: 1.0     
  height: 1.0    
  resolution: 0.01

Common parameters:

plugins: 
#    - {name: static_map,       type: "costmap_2d::StaticLayer"} 
    - {name: inflation,        type: "costmap_2d::InflationLayer"}
    - {name: sonar,            type: "range_sensor_layer::RangeSensorLayer"}

Static map layer:

map_topic: "/map_topic"
first_map_only: false

So at the moment I don't use static map layer and everything loads correctly except that blank costmaps are published (global and local). No error is shown.

Otherwise, if I enable static map layer, set global and local costmaps to use rolling window and non-static map move_base node is stuck at:

[ INFO] [1528620968.885129620]: Using plugin "static_map"
[ INFO] [1528620968.904921357]: Requesting the map...

I'm sure that topic name is correct.

In the static map layer there is parameter defined map_topic and first_map_only but seem not to work as I expected. If I set global and local costmap's parameters as:

static_map: true
rolling_window: false

and run map_server with appropriate file (previously saved map) everything works good. But it's not the way I would like to do it.

Any tips are welcome.

There was a conflict in parameter names. I've been trying to load costmap's static layer static_map parameters into move

move_base to use map published on a certain topic Hello, I'm having trouble trying to make my move_base constantly subsc

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