Hello ROS community,
We are trying to test the navigation stack in Stage. Even
though we follow the Navigation tutorial and have a look at the package
move_base_stage as an example, we cannot use navigation successfully. When we
launch our .launch file, it seems everything goes fine. However, when we send a
goal to move_base, the robot starts rotating and writes several warnings:
[WARN] 1777.800000000: The origin for the sensor at
(-0.03, -0.06, 0.15) is out of map bounds. So, the costmap cannot raytrace for
it.
[WARN] 1777.700000000: The robot's start position is
off the global costmap. Planning will always fail, are you sure the robot has
been properly localized?
The first one is the most common one, while the
second one appears sometimes. We are using the willow-full.pgm map, centred in
(0, 0, 0) (in stage) and with 0.1 metres/pixel resolution for map_server. We
set amcl initial pose to (0, 0, 0), which is the pose where the robot starts. And
the strangest thing is that those warnings do not appear always even though we
launch the same launch file. We have checked all the files against the
move_base_stage package and it seems everything makes sense.
On the other hand, we also have seen that when we
move the robot using the mouse in Stage, the transform between the map and the
sensor origin becomes faulty. For example, when the robot is at (0, 1), the
origin of the sensor is said to be at (0.44, -0.01). Notice that we are using
the erratic model provided in the stage package.
We don’t know where the problem(s) is(are). Does
anybody have a clue? Thanks in advance!
______________________________
Gorka Azkune Galparsoro
Kontrol eta IKT Saila
Departamento de Control y TIC
Control and ICT
Department
FATRONIK
Mikeletegi Pasealekua, 7 - . Teknologi
Parkea
E-20.009 Donostia (Gipuzkoa)-Spain
Telf: (+34) 943 005500
Fax: (+34) 943 005511
e-mail : gazcune@fatronik.com
web : www.fatronik.com