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2013-07-16 18:47:45 -0500 | commented answer | Transform between /openni_depth_frame and /camera_link Hi, I am faced with the same problem. I use a turtlebot2 with Kinect XBOX 360. The output from "view_frames" is similar to your output, /openni_depth_frame is not connected to /camera_link. Could you explain how did you solve your problem in more detail? |
2013-07-03 04:10:54 -0500 | commented answer | Autonomous Navigation of a Known Map with TurtleBot Problem Thanks, Jorge. I found the priority parameter 5 on turtlebot_bringup/param/mux.yaml, and the priority parameter 7 on kobuki_keyop/param/keyop_mux.yaml. Then if I use kobuki_keyop, the navigation works. |
2013-07-02 05:04:58 -0500 | commented answer | Autonomous Navigation of a Known Map with TurtleBot Problem I could not find the priority of "2D Nav Goal" on Rviz. But I found that when I run "rosnode info /mobile_base_nodelet_manager ", then "/cmd_vel_mux/input/navi_raw" follows "topic: /cmd_vel_mux/input/teleop". on Connections. Does the writing order mean the priority? |
2013-07-02 04:49:02 -0500 | commented answer | Autonomous Navigation of a Known Map with TurtleBot Problem Thanks for your help. I found that after I launched "turtlebot_teleop", six zero parameters(linear and angular xyz) are published on topic "/mobile_base/commands/velocity" when I did not input any command. And in param/mux.yaml, the "Teleoperation" priority is 7. |
2013-07-02 04:41:34 -0500 | commented answer | Autonomous Navigation of a Known Map with TurtleBot Problem I'm sorry, there are some typo. terelp means teleop, and tereop means teleop. |
2013-07-01 14:21:15 -0500 | commented answer | Autonomous Navigation of a Known Map with TurtleBot Problem Thanks. I check it using "rqt_graph". But when I run the terelp, I found only /turtlebot_tereop_keyboard node communicated to /mobile_base_nodelet_manager node on /cmd_vel_mux/input/tereop topic. /map_server node, /move_base node and /mobile_base_nodelet_manager still communicate. Why don't work? |
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2013-06-30 07:09:08 -0500 | answered a question | Autonomous Navigation of a Known Map with TurtleBot Problem Hi, I solved it by myself. The reason why I could not use the autonomously plan is that I did not stop the teleoperation when I use the "2D Nav Goal" command, roslaunch turtlebot_teleop keyboard_teleop.launch Then, after "2D Pose Estimate" and localization by teleoperation, I should stop the teleoperation command. After stopping teleoperation, "2D Nav Goal" command works well! |
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2013-06-20 08:16:00 -0500 | asked a question | Autonomous Navigation of a Known Map with TurtleBot Problem Hi, I'm totally new in ROS-Groovy and turtlebot 2(Kobuki) on Ubuntu 12.04(64bit). I followed TurtleBot tutorials, section 1 to 3 were OK. But I met some difficulties with basic tutorial about "Autonomous Navigation of a Known Map with TurtleBot". I generated a my_map following the previous tutorial, "SLAM Map Building with TurtleBot". After that, I loaded my_map and "roslaunch turtlebot_rviz_launchers view_navigation.launch". I could Localize the TurtleBot using "2D Pose Estimate" and Teleoperation. But when I Clicked the "2D Nav Goal" button and set a Goal, my turtlebot didn't move anywhere. Can anyone help me? I found some warnings when I ran "roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/my_map.yaml". The warnings are, : You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server : Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution. And I also checked the status by "rqt -s kobuki_dashboard", after set a Goal, I found a warning that "Using odometry instead of last command" every frame. |