mliefaard's profile - activity

Hi everyone!

I am having an issue with the orientation fields of the move_base package and the teb_local_planner.

At first I would just set the orientation.w field to 1.0 and leave the xyz components set to 0. However, now I want to make the robot have a specific orientation when it reaches its goal location.

My train of thought was that if I wanted to rotate the robot around its base that I would have to rotate 0.5 * PI around its yaw axis. If I change the yaw component in my gazebo simulation then I can indeed rotate the robot around its y-axis.

I found this tutorial on the ROS wiki which states that you can convert a roll, pitch, yaw rotation to a quaternion.

Suppose my RPY respectively are [0, 0, 0.5 * PI] then the Quaternion is (w,x,y,z) (0.707107, 0, 0, 0.707107) move_base s canaccepts this as a valid quaternion and thus the goal is active. However, the robot starts to oscillate due to its local planner. I added an image of the RVIZ view where I visualized both the local and global plan. The robot stays on the first pose in the red poseArray and moves back and forward.

Is my quaternion input incorrect or am I using the orientation field incorrectly? My goal is to have the robot arrive at its goal location with a specific orientation.

Here is the output of my navigation nodes:

SUMMARY
========

PARAMETERS
 * /move_base/base_local_planner: teb_local_planner...
 * /move_base/global_costmap/footprint: [[0.25, 0.154], [...
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation_radius: 0.55
 * /move_base/global_costmap/obstacle_range: 2.5
 * /move_base/global_costmap/raytrace_range: 3.0
 * /move_base/global_costmap/robot_base_frame: base_link
 * /move_base/global_costmap/static_map: True
 * /move_base/global_costmap/update_frequency: 5.0
 * /move_base/local_costmap/footprint: [[0.25, 0.154], [...
 * /move_base/local_costmap/global_frame: map
 * /move_base/local_costmap/height: 10.0
 * /move_base/local_costmap/inflation_radius: 0.55
 * /move_base/local_costmap/obstacle_range: 2.5
 * /move_base/local_costmap/publish_frequency: 40.0
 * /move_base/local_costmap/raytrace_range: 3.0
 * /move_base/local_costmap/resolution: 1
 * /move_base/local_costmap/robot_base_frame: base_link
 * /move_base/local_costmap/rolling_window: False
 * /move_base/local_costmap/static_map: True
 * /move_base/local_costmap/update_frequency: 60.0
 * /move_base/local_costmap/width: 10.0
 * /robot_pose_ekf/debug: True
 * /robot_pose_ekf/freq: 50.0
 * /robot_pose_ekf/imu_used: True
 * /robot_pose_ekf/odom_used: True
 * /robot_pose_ekf/output_frame: map
 * /robot_pose_ekf/self_diagnose: False
 * /robot_pose_ekf/sensor_timeout: 1.0
 * /robot_pose_ekf/vo_used: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    link1_broadcaster (tf2_ros/static_transform_publisher)
    link2_broadcaster (tf2_ros/static_transform_publisher)
    map_server (map_server/map_server)
    move_base (move_base/move_base)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)

ROS_MASTER_URI=http://localhost:11311

process[link1_broadcaster-1]: started with pid [19739]
process[link2_broadcaster-2]: started with pid [19740]
process[robot_pose_ekf-3]: started with pid [19758]
process[map_server-4]: started with pid [19776]
process[move_base-5]: started with pid [19841]
[ INFO] [1540834009.296069299, 13.907000000]: Loading from pre-hydro parameter style
[ INFO] [1540834009.310812145, 13.922000000]: Using plugin "static_layer"
[ INFO] [1540834009.317225170, 13.928000000]: Requesting the map...
[ INFO] [1540834009.520453286, 14.132000000]: Resizing costmap to 100 X 100 at 1.000000 m/pix
[ INFO] [1540834009.621709934, 14.232000000]: Received a 100 X 100 map at 1.000000 m/pix
[ INFO] [1540834009.626584742, 14.237000000]: Using plugin ...