Shanker,
Hi Eitan,
Thanks for your reply. I tried the "RVIZ with navigation stack" tutorial.
The map was displayed properly, and I also added the pose array. But I was
unable to display the polygon showing the robot footprint. RVIZ warns me
that there are no messages received in
move_base/local_costmap/robot_footprint. There are also no messages received
for move_base/local_costmap/obstacles or inflated obstacles. And indeed,
when I 'rostopic echo' robot_footprint, I get no messages.
At this point, I went through all my files again and noticed that in
'costmap_common_params.yaml', I had written the robot footprint values in
centimeters and not in meters. I corrected this, so now the file looks like:
Costmap_common_params.yaml
footprint: [[0.275,0.325], [-0.275,0.325], [-0.275,-0.325], [0.275,-0.325]]
obstacle_range: 2.5
raytrace_range: 3.0
transform_tolerance: 2.0
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan,I ran the simulation again. And the errors are still the same with no
marking: true, clearing: true}
inflation_radius: 0.55
differences. So I believe that was not the problem anyway.
When I run the Rviz with navigation goals tutorial,
I get the warning:
[ INFO] [1291168915.975023299]: Received a 384 X 832 map at 0.100000 m/pix
[ WARN] [1291168933.842753803]: The origin for the sensor at (0.10, -0.00,
0.00) is out of map bounds. So, the costmap cannot raytrace for it.
[ WARN] [1291168986.842490604]: The origin for the sensor at (0.10, -0.00,
0.00) is out of map bounds. So, the costmap cannot raytrace for it.
At this point, roswtf gives me:
roswtf:
shanker@DFKIShankerMBpro:~/Workspace/nifti/initial/subarchitectures/navigation.sa$
roswtfPackage: navigation.sa
Loaded plugin tf.tfwtf
================================================================================
Static checks summary:
No errors or warnings
================================================================================* /reset_time
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /amcl:
* /rviz_1291167645895723737:
* /reset_time* /initialpose->/rosout (/rosout)
* /move_base:
* /move_base_simple/goal
* /move_base/cancel
* /reset_time
* /tf_message
WARNING The following nodes are unexpectedly connected:
* /driver->/rosout (/rosout)
* /move_base->/rosout (/rosout)
* /sicklms->/rosout (/rosout)* /rviz_1291167645895723737->/rosout (/rosout)
* /amcl->/rosout (/rosout)
* /map_server->/rosout (/rosout)I will check localization without navigation and post my results.
* /tflaserlink->/rosout (/rosout)
* /odomesub->/rosout (/rosout)
Thanks for your help!
Shanker
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