FabioZ96's profile - activity

Hi. I noted graphically that velocities were sent in pulse every 5 time units. So I had 1 correct value followed up with

Problem with load and tune navigation stack params Hi, I'm using the navigation stack of ROS with Rviz to autonomous nav

Hi, I'm running ROS Melodic on Ubuntu 18.04. I'm following this tutorial to perform slam and navigation on my own robot: http://emanual.robotis.com/docs/en/pl...

I can create a good map using gmapping, but after that I can't navigate.

This is my launch file for navigation:

  <!--Start base control of robot and rviz-->
  <include file="$(find robot)/launch/start_robot_pc.launch">
    <arg name="fixed_frame" value="map"/>
  </include>

  <!--Start kinect and fake scan-->
  <include file="$(find robot)/launch/kinect.launch"/>

  <!-- Load map previously created -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>

  <!-- AMCL -->
  <include file="$(find robot)/launch/includes/amcl.launch.xml"/>

  <!-- move_base -->
  <include file="$(find robot)/launch/includes/move_base.launch.xml">
    <!--param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /-->
  </include>

This is my move_base launch:

<launch>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
    <rosparam file="$(find robot)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find robot)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find robot)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find robot)/param/global_costmap_params.yaml" command="load" />
    <!--rosparam file="$(find robot)/param/base_local_planner_params.yaml" command="load" /-->
    <rosparam file="$(find robot)/param/dwa_local_planner_params.yaml" command="load" />
    <rosparam file="$(find robot)/param/move_base_params.yaml" command="load" />

    <remap from="cmd_vel" to="/cmd_vel"/>
    <remap from="odom" to="odom"/>
  </node>

</launch>

I can estimate 2D pose of robot but when I use "2D Nav Goal" arrow, nothing happens.

I run rostopic list and I get only this topics starting with /move_base:

/move_base/current_goal
/move_base/goal
/move_base_simple/goal

I checked tutorial's topics and I saw this:

/move_base/DWAPlannerROS/global_plan
/move_base/DWAPlannerROS/local_plan
/move_base/NavfnROS/plan
/move_base/current_goal
/move_base/global_costmap/costmap
/move_base/global_costmap/costmap_updates
/move_base/goal
/move_base/local_costmap/costmap
/move_base/local_costmap/costmap_updates
/move_base/local_costmap/footprint
/move_base_simple/goal

Why I can't see the same topics?

UPDATE: I have disassembled the tutorial's code and I discover that I saw those topics because rviz was subscribed, but no node was the publisher. So, why the navigation doesn't work for me?

Ok, I opened a new question here: https://answers.ros.org/question/332487/robot-move-in-little-jerks/

Robot move in little jerks Hi, I'm using Navigation Stack and in particulary rviz to navigate the robot. I can see cos

Robot move in little jerks Hi, I'm using Navigation Stack and in particulary rviz to navigate the robot. I can see cos

Robot move in little jerks Hi, I'm using Navigation Stack and in particulary rviz to navigate the robot. I can see cos

What I mean is that robot receive little impulses of velocity that don't allow it to move forward. So periodically, the

Thank you so much. Now it works and I can see maps an trajectories. But I get some warning and the robot doesn't move pr

Thank you so much. Now it works and I can see maps an trajectories. But I get some warning and the robot doesn't move pr

This is the warning I get: Timed out waiting for transform from \base_footprint to \map to become available before runn

Hi, I'm using ROS melodic on Ubuntu 18 and I want to perform SLAM using rviz.

I have got a dual drive robot controlled by Arduino via Serial. I have a node that reads/writes data from serial and publish/subscribe them as topic.

This is the topic list:

/clicked_point
/cmd_vel
/cmd_vel_mux/input/navi
/diagnostics
/horizontal_servo_pos
/initialpose
/joint_states
/joy
/joy/set_feedback
/left_encoder
/left_motor_speed
/left_velocity
/left_wheel_target
/make_scan
/map
/map_metadata
/map_updates
/move_base/current_goal
/move_base/goal
/move_base_simple/goal
/odom
/right_encoder
/right_motor_speed
/right_velocity
/right_wheel_target
/rosout
/rosout_agg
/scan
/serial_msg
/slam_gmapping/entropy
/tf
/tf_static
/ultrasonic_distance
/ultrasonic_scan
/vertical_servo_pos

This is my file .urdf

<robot name="robot">

  <link name="odom">
  </link>

  <joint name="base_to_odom" type="fixed">
    <parent link="odom"/>
    <child link="base_footprint"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>

  <link name="base_footprint">
    <visual>
      <geometry>
        <box size="0.23 0.12 0.01"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.055"/>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>
</robot>

This is my launch file for navigation:

<launch>

  <arg name="model" default="$(find robot)/urdf/robot_z.urdf"/>
  <arg name="gui" default="true" />
  <arg name="rvizconfig" default="$(find robot)/rviz/config_z.rviz" />

  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
  <param name="use_gui" value="$(arg gui)"/>

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

  <include file="$(find robot)/launch/includes/gmapping.launch.xml"/>
  <include file="$(find robot)/launch/includes/move_base.launch.xml"/>

</launch>

I can use a Joystick to move around the robot.

This is my rviz screenshot: https://pasteboard.co/IumPN58.png

I can move the robot (rappresented by "little car" ) in this world but the laser scanner refers to /odom in the center of world. I tried to change "Fixed frame" from map to "base_footprint" and the robot figure holds in the map while the other axes move around the world with laser scanner points as shown in figure: https://pasteboard.co/IumQ8iJ.png

How can I link the robot with laser scanner and odometry?

However I get this warning:

[ WARN] [1566756673.514885761]: Timed out waiting for transform from \base_footprint to \map to become available before running costmap, tf error: canTransform: target_frame \map does not exist. canTransform: source_frame \base_footprint does not exist.. canTransform returned after 0.100995 timeout was 0.1.

I also like to use 2DNavGoal function to comand the robot from rviz but when i use it, nothing in appening.

Thanks a lot. If you need other info I will update the post.

I solved it. The problem was that the publisher of laser scan, set the frame id to "odom" and not to "scan". I solved

Can't see some topics for planning and navigation Hi, I'm running ROS Melodic on Ubuntu 18.04. I'm following this tutori

Can't see some topics for planning and navigation Hi, I'm running ROS Melodic on Ubuntu 18.04. I'm following this tutori

Problem installing raspicam_node Hi, I need to capture video from Pi Camera on Raspberry 3B+ and show it on my Remote PC

Problem installing raspicam_node Hi, I need to capture video from Pi Camera on Raspberry 3B+ and show it on my Remote PC

fabio@fabio:~/Scrivania/ProgettoLab/prog/robot_ws$ rosrun tf view_frames Listening to /tf for 5.0 seconds Done Listening

Exactly...the laser scan data stay in the center while the robot moves around as shown in first figure.

Thanks for your answer. I tried to add this code to my URDF file and I tried to create joints combining map, odom, base_

Thanks for your answer. I tried to add this code to my URDF file and I tried to create joints combining map, odom, base_

Rviz doesn't link laser scanner with robot model Hi, I'm using ROS melodic on Ubuntu 18 and I want to perform SLAM using

Rviz doesn't link laser scanner with robot model Hi, I'm using ROS melodic on Ubuntu 18 and I want to perform SLAM using

Rviz doesn't link laser scanner with robot model Hi, I'm using ROS melodic on Ubuntu 18 and I want to perform SLAM using

Rviz doesn't link odom and base_footprint Hi, I'm using ROS melodic on Ubuntu 18 and I want to perform SLAM using rviz.