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2020-12-18 13:29:25 -0500 marked best answer local costmap stays empty / move_base not subscribing to laser

Hey there

A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebone Blue), RPLidar and UP Squared as processing Unit up running. The localization came from google Cartographer. The drive commands came from move_base. Back then the local costmap as well as the global costmap contained the obstacles. This week i tried to tune the local and global planner for a smoother driving experience. Since i wanted to test it before tuning the local costmap stays empty. The navigation still works, but due to the lack of the local costmap the robot drives just straight to its goal. I think the problem is, that the move_base node does not subscribe to the scan topic. But i do not figure out how to force him to do so. I also tried to launch some backups, but the behaviour is the same.

my TF_tree is:

  • map (map-odom = global SLAM)
  • odom (odom-base_footprint = local SLAM)
  • base_footprint (base_footprint - base_link = (0, 0, 0, 1) quaterninon with own tf broadcaster)
  • base_link (base_link - scan/imu_link = direction on robot with urdf)
  • scan / imu_link

The Cartographer is still working well and provides the Transformation as far as i can see. The topic /scan and /imu are both published and seem right. A picture from the Navigation with the empty costamp is added here: navigation with empty costmap .

Does anyone has some ideas, which might bring my robot to update the local_costmap? The important files are added below and the others are in: https://github.com/goeldisandro/autonomous_turtlebot_navigation.

thanks a lot for your help!

greetings from Switzerland

Edit:

  1. the first failure is:
[ WARN] [1562752396.232648210]: Control loop missed its desired rate

of 20.0000Hz... the loop actually took 0.1233 seconds

am i right, that this is just a performance issue?

  1. there is also an Error that i do not really know, what does it mean
[ERROR] [1562757979.010348657]: Kobuki : malformed sub-payload

detected. [28][170][1C AA 55 4D 01 0F A4 18 00 00 ]

the Error also showed up before, which makes me think it is not important. I also found no way to fix it (already tried updating Kobuki).

this is the Output when i launch 

>  NODES   /
>     bumper2pointcloud (nodelet/nodelet)
>     cartographer_node (cartographer_ros/cartographer_node)
>     cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
>     cmd_vel_mux (nodelet/nodelet)
>     diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
>     mobile_base (nodelet/nodelet)
>     mobile_base_nodelet_manager (nodelet/nodelet)
>     move_base (move_base/move_base)
>     robot_state_publisher (robot_state_publisher/robot_state_publisher)
>     rplidarNode (rplidar_ros/rplidarNode)
>     rviz (rviz/rviz)
>     tf_broadcaster_base (robot_setup_tf/tf_broadcaster_base)
> 
> ROS_MASTER_URI=http://localhost:11311
> 
> process[rplidarNode-1]: started with
> pid [18294] [ INFO]
> [1562752257.374873089]: RPLIDAR
> running on ROS package rplidar_ros.
> SDK Version:1.9.0 process[rviz-2]:
> started with pid [18317]
> process[tf_broadcaster_base-3]:
> started with pid [18318]
> process[robot_state_publisher-4]:
> started with pid [18319]
> process[diagnostic_aggregator-5]:
> started with pid [18328]
> process[mobile_base_nodelet_manager-6]:
> started with pid [18337]
> process[mobile_base-7]: started with
> pid [18349]
> process[bumper2pointcloud-8]: started
> with pid [18359 ...
(more)
2020-12-16 18:28:09 -0500 received badge ● Nice Question (source)
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2019-08-17 04:14:46 -0500 edited answer Change location of global costmap relative to map frame / cartographer mark prohibited area

Due to a lack of Karma i added a chart of my proposed solution https://github.com/goeldisandro/outdoor_navigation/blob/
2019-08-17 04:14:26 -0500 answered a question Change location of global costmap relative to map frame / cartographer mark prohibited area

Due to a lack of Karma i added a chart of my solution https://github.com/goeldisandro/outdoor_navigation/blob/master/ed
2019-07-17 09:39:15 -0500 received badge ● Famous Question (source)
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2019-07-16 03:43:15 -0500 edited question Change location of global costmap relative to map frame / cartographer mark prohibited area

Change location of global costmap relative to map frame / cartographer mark prohibited area Hi there I am trying to imp
2019-07-16 03:33:04 -0500 edited question Change location of global costmap relative to map frame / cartographer mark prohibited area

Change location of global costmap relative to map frame / cartographer mark prohibited area Hi there I am trying to imp
2019-07-16 03:33:04 -0500 received badge ● Associate Editor (source)
2019-07-16 03:28:40 -0500 asked a question Change location of global costmap relative to map frame / cartographer mark prohibited area

Change location of global costmap relative to map frame / cartographer mark prohibited area Hi there I am trying to imp
2019-07-15 07:37:58 -0500 answered a question local costmap stays empty / move_base not subscribing to laser

I finally found my failures. the first failure was that i loaded the costmap_common_files without namespace (ns) <!-
2019-07-15 01:35:36 -0500 received badge ● Popular Question (source)
2019-07-11 11:45:17 -0500 commented answer local costmap stays empty / move_base not subscribing to laser

I will try your suggestions on monday and tell you the results asap. As far as i can see the /scan topic is published r
2019-07-11 11:34:43 -0500 received badge ● Supporter (source)
2019-07-10 07:38:19 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty / move_base not subscribing to laser Hey there A few weeks ago i finally brought the navigati
2019-07-10 07:37:36 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty / move_base not subscribing to laser Hey there A few weeks ago i finally brought the navigati
2019-07-10 07:32:12 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 06:31:55 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 06:30:53 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 06:30:17 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 06:28:53 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 06:24:17 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 06:22:41 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 05:04:30 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 05:03:57 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 05:01:59 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 05:01:27 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 05:00:42 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 05:00:29 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 04:55:58 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 04:55:34 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 04:54:57 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 04:37:26 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought the navigation on my Kobuki with an IMU (Beaglebo
2019-07-10 04:37:26 -0500 received badge ● Editor (source)
2019-07-10 04:34:42 -0500 edited question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought my Kobuki with an IMU (Beaglebone Blue), RPLidar

2019-07-10 04:33:43 -0500 asked a question local costmap stays empty / move_base not subscribing to laser

local costmap stays empty Hey there A few weeks ago i finally brought my Kobuki with an IMU (Beaglebone Blue), RPLidar

2019-07-10 03:48:22 -0500 commented question How to launch cartographer on my own .bag - RVIZ with missing tf

Hi there The problem was with the urdf File. When there is no correct tree, the cartographer node won`t run. This result
2019-06-10 15:56:56 -0500 received badge ● Famous Question (source)
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2019-06-10 15:56:56 -0500 received badge ● Popular Question (source)
2019-02-20 10:11:54 -0500 asked a question How to launch cartographer on my own .bag - RVIZ with missing tf

How to launch cartographer on my own .bag - RVIZ with missing tf I m relatively new to ROS and thank you in advance for

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