asabet's profile - activity

I'm launching a bumblebee2 stereo camera to get my input images. When I check the /clock topic, I don't see any timestamps being published. Is this abnormal?

I'd like to build a costmap on top of cartographer's map instead of say, gmaping, so I can run move_base on it for navigation. How do I go about doing this/

My UGV sometimes behaves erratically when navigating autonomously with move_base. It will sometimes get caught in loops when performing turns to reach a nav goal, or it will completely lose it's pose and lose its pose wrt to the ground and think it's flipped in the air (as seen in rviz). When it is behaving erratically, it can even rush a wall and try to climb it until it tips over! I'd like to add a kill condition that will monitor its odometry, speed, and acceleration and send an interrupt to move_base to shut down when this happens. What's the best way of going about this?

I'm experiencing an issue where anytime move_base sets a trajectory for the robot to follow, it inevitably falls too close to an obstacle and ends up scraping against it, or gets stuck in an escape loop where it keeps backing out in order to avoid the obstacle but repeats the same trajectory instead of re-planning. How can I discourage this behaviour?

move_base settings:
    TrajectoryPlannerROS:    
      acc_lim_x: 2.0
      acc_lim_theta:  1.0

      max_vel_x: 0.18
      min_vel_x: 0.05

      max_vel_theta: 1.57
      min_vel_theta: -1.57
      min_in_place_vel_theta: 0.314

      holonomic_robot: false
      escape_vel: -0.20

      yaw_goal_tolerance: 0.3
      xy_goal_tolerance: 0.35
      latch_xy_goal_tolerance: false

      sim_time: 4.0
      sim_granularity: 0.02
      angular_sim_granularity: 0.03
      vx_samples: 30
      vtheta_samples: 30
      controller_frequency: 20.0

      meter_scoring: true
      occdist_scale:  0.1
      pdist_scale: 0.4
      gdist_scale: 0.6    
      heading_lookahead: 1.0
      heading_scoring: false
      heading_scoring_timestep: 1.8
      dwa: true
      simple_attractor: false
      publish_cost_grid_pc: true

      oscillation_reset_dist: 0.4
      escape_reset_dist: 0.0
      escape_reset_theta: 0.4

    map_type: costmap
    origin_z: 0.0
    z_resolution: 1
    z_voxels: 2

    obstacle_range: 5.5 #2.5
    raytrace_range: 3.0

    publish_voxel_map: false
    transform_tolerance: 0.5
    meter_scoring: false

    footprint: [[-0.21, -0.165], [-0.21, 0.165], [0.21, 0.165], [0.21, -0.165]]
    footprint_padding: 0.045

    plugins:
    - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
    - {name: inflater_layer, type: "costmap_2d::InflationLayer"}

    obstacles_layer:
      observation_sources: scan
      scan: {sensor_frame: front_laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: -2.0, max_obstacle_height: 2.0, obstacle_range: 2.5, raytrace_range: 3.0}

    inflater_layer:
     inflation_radius: 0.06
    shutdown_costmaps: false

    controller_frequency: 10.0
    controller_patience: 5.0

    planner_frequency: 20.0
    planner_patience: 5.0

    oscillation_timeout: 0.0
    oscillation_distance: 0.5

    recovery_behavior_enabled: true
    clearing_rotation_allowed: true
    global_costmap:
       global_frame: map
       robot_base_frame: base_link
       update_frequency: 10.0
       publish_frequency: 5.0
       width: 40.0
       height: 40.0
       resolution: 0.02
       origin_x:  0.0
       origin_y:  0.0
       static_map: true
       rolling_window: false

       plugins:
       - {name: static_layer, type: "costmap_2d::StaticLayer"}
       - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
       - {name: inflater_layer, type: "costmap_2d::InflationLayer"}
    local_costmap:
       global_frame: map
       robot_base_frame: base_link
       update_frequency: 10.0
       publish_frequency: 5.0
       width: 10.0
       height: 10.0
       resolution: 0.02
       static_map: false
       rolling_window: true

I'm running rtabmap on a jackal robot with bumblebee2 stereo camera on ros-kinetic. I get the following error when trying to view pointcloud2 topic in rviz:

Transform [sender=unknown_publisher] For frame [front_camera_optical]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time 1533228746.513341601 but the latest data is at time 1533228664.878277882, when looking up transform from frame [front_camera_optical] to frame [map]]

When I view the tf tree link text I see that i'm getting -0.086 sec old from the map broadcast by rtabmap.

I've set the map frame as the fixed frame in RVIZ, and this is what it looks like when running rtabmap https://imgur.com/a/U5fJLLP . This is what my partial tf-tree looks like https://imgur.com/a/1s2PnV8 . This is my launch file for rtabmap:

<launch>    <!-- Choose visualization
-->    <arg name="rviz" default="true" />    <arg name="rtabmapviz" default="false" />    <arg name="local_bundle" default="true" />  <arg name="stereo_sync" default="false" />

   <param name="use_sim_time" type="bool" value="false"/>    <!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->  <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="frame_id"         type="string" value="base_link"/>
      <param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
      <param name="subscribe_depth"  type="bool" value="false"/>
      <param name="subscribe_rgbd"      type="bool" value="$(arg stereo_sync)"/>

      <remap from="left/image_rect"   to="/camera/left/image_rect_color"/>
      <remap from="right/image_rect"  to="/camera/right/image_rect"/>
      <remap from="left/camera_info"  to="/camera/left/camera_info"/>
      <remap from="right/camera_info" to="/camera/right/camera_info"/>
      <remap from="rgbd_image"        to="/camera/rgbd_image"/>

      <remap from="odom" to="/odometry/filtered"/>
      <param name="queue_size" type="int" value="30"/>
      <param name="map_negative_poses_ignored" type="bool" value="true"/>

      <!-- RTAB-Map's parameters -->
      <param name="Rtabmap/TimeThr"                   type="string" value="700"/>
      <param name="Grid/DepthDecimation"            type="string" value="4"/>
      <param name="Grid/FlatObstacleDetected"       type="string" value="true"/>
      <param name="Kp/MaxDepth"                       type="string" value="0"/>
      <param name="Kp/DetectorStrategy"             type="string" value="6"/>
      <param name="Vis/EstimationType"                type="string" value="1"/>   <!-- 0=3D->3D, 1=3D->2D (PnP) -->
      <param name="Vis/MaxDepth"                      type="string" value="0"/>
      <param name="RGBD/CreateOccupancyGrid"        type="string" value="true"/>
      <param name="approx_sync"                       type="bool" value="true"/>    </node> </launch>

move_base navigating robot to close to costmap? I'm experiencing an issue where anytime move_base sets a trajectory for

Robot gets 'stuck' in object's costmap? I'm navigating a jackal robot with the move_base stack, and am experiencing an i