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2016-05-31 09:08:27 -0500 marked best answer How to set the initial pose for the robot in navigation?

Hi! I followed the tutorials of navigation , but I meet some problems. I joysticked the robot and used Gmapping to generate a map . Next I turn off the robot and restart it . The laser scan and odometry work well. Then I use that map with AMCL. When I load the map with Map_Sever,the rviz shows that the robot always stays in the original point of the map by defalut although the robot is in other places actually.I donot know how to set the initial pose for the robot . Can the robot match the laser date with the environment of the map and make itself localized autonomously ? Or do I need to set the initialpose for the robot manully? Any suggestion will be appreciated!Thank you very much!

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2015-05-31 19:14:57 -0500 marked best answer How to mark victims in hector slam?

Hi, I am using Hector_Slam for mapping.And I use hector_geotiff to save maps.But what should I do to mark victims on maps ?Any advice will be appreciated !Thank you very much!

2015-03-25 05:29:20 -0500 marked best answer I run into an error when using move_base package of navigation

Hi,everyone!when I was setting up my robot for navigation ,I followed the navigation tutorial like this .But when I roslaunch the move_base.launch ,I ran into an error.It says ,

You must specify at least three points for the robot footprint,reverting to previous footprint.

I know maybe something is wrong with costmap_common_params.yaml setting "footprint:[[x0,y0],[x1,y1]...[xn,yn]]".But I donot know how to solve the problem.Can anyone help me ???

I add the costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
inflation_radius: 0.55
observation_sources: laser_scan_sensor 
laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
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2014-06-08 21:58:50 -0500 commented answer move_base crashed when call clear_costmaps service

And I thought maybe calling clear costmaps periodically can solve the problem.Then the error occured like I have described above. Is there another way to solve the previous problem?

2014-06-08 21:55:34 -0500 commented answer move_base crashed when call clear_costmaps service

Thank you very much for your answer,Michael.The problem I came across is described here. http://answers.ros.org/question/172915/why-the-costmaps-dont-clear-obstacles-in-time-when-using-move_base-package/

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2014-06-06 11:04:20 -0500 asked a question move_base crashed when call clear_costmaps service

I download the latest updated navigation package from github.And I come across a problem .move_base crashed when I call clear_costmaps service at high rate,such as 2Hz.

below is the error infomation:

terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[move_base-1] process has died [pid 16226, exit code -6, cmd /home/robocup/catkin_ws/devel/lib/move_base/move_base /move_base/clear_costmaps:=/clear_costmaps __name:=move_base __log:=/home/robocup/.ros/log/ad85e5de-ed8f-11e3-b90b-0015005e1628/move_base-1.log].
log file: /home/robocup/.ros/log/ad85e5de-ed8f-11e3-b90b-0015005e1628/move_base-1*.log

Has anyone met the problem before?Any advice will be appreciated!

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2014-06-05 22:37:43 -0500 asked a question why the costmaps don't clear obstacles in time when using move_base package?

Hello all, I am using gmapping and move_base to navigate and generate a map.But I ran into a problem.Becaust of the interference of external factors to laser(URG04LX),the map may take several points as obstacles.But with the robot moving ,the map updates and the points (fake obstacles) are cleared.But the costmap donot clear the points in time ,even several minutes after the map have already cleared those points.Picture 1 is the costmap and Picture2 is the map at the same time.As we can see ,the costmap take those yellow points as obstacles including those around the robot which actually has already been cleared on the map.As a result the robot was stuck and can't rotate.

Picture1 : costmap

Picture2 : map

I donot know if I have something wrong with configuration of costmap,so I paste the files below. base_local_planner_params.yaml:

 TrajectoryPlannerROS:
  max_vel_x: 0.20   
  min_vel_x: 0.08
  max_rotational_vel: 0.23  
  min_in_place_rotational_vel: 0.05

  acc_lim_th: 1.05
  acc_lim_x: 1.0
  acc_lim_y: 1.0

  holonomic_robot: false

costmap_common_params.yaml:

obstacle_range: 5.0       
raytrace_range: 5.0         
footprint: [[0.5, 0.25],
            [-0.3, 0.25],
            [-0.3, -0.25],
            [0.5, -0.25]]                   
inflation_radius: 0.15   
observation_sources: laser_scan_sensor 
laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}

global_costmap_params.yaml:

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 0.5
  publish_frequency: 0.5
  static_map: false
  rolling_window: true

  width: 190.0
  height: 190.0
  resolution: 0.03

local_costmap_params.yaml:

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 0.5       
  publish_frequency: 0.5        
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.03

move_base.launch:

<?xml version="1.0"?>
<launch>
  <master auto="start"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find SEU_Jolly_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find SEU_Jolly_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find SEU_Jolly_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find SEU_Jolly_2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find SEU_Jolly_2dnav)/base_local_planner_params.yaml" command="load" />
    <param name="controller_frequency" value="5.0" />
  </node>
</launch>

Has anyone met the problem before?Any advice will be appreciated.Thank you very much.

Yuichi

2014-06-05 03:26:16 -0500 commented question Could not clear the obstacle_layer of costmap_2d package in ros hydro

Hi ,tl20003 ,I am coming across the same problem with you now .And I have tried almost all the ways that proposed by others,but in vain.Have you worked out the problem?

2014-05-26 16:32:12 -0500 commented answer while using hector_object_tracker,I run into a warning:project_objects is true, but GetDistanceToObstacle service is not (yet) available

That's right!Thank you very much!

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