Hi, I have been setting up the navigation stack for a Pioneer 3 AT robot and have run into some issues. I went through the ROS Users page and the tutorials (of course), and though they helped clear small problems along the way, I seem to have run into a dead-end. Any help is appreciated! I followed this very well written tutorial ( http://www.ros.org/wiki/navigation/Tutorials/RobotSetup ). I created a map, then the test is as follows: First, I run my laser, odometry and tf node. Then I run the "move_base.launch" and then "simple_navigation_goals", as described in the tutorial. Details: Running move_base.launch shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$ roslaunch move_base.launch ... logging to /home/shanker/.ros/log/ad23bc38-f6f3-11df-bf25-34159e19aa5c/roslaunch-DFKIShankerMBpro-11496.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://DFKIShankerMBpro:46805/ SUMMARY ======== PARAMETERS * /move_base/global_costmap/robot_base_frame * /amcl/laser_likelihood_max_dist * /amcl/laser_max_beams * /move_base/local_costmap/laser_scan_sensor/sensor_frame * /amcl/gui_publish_rate * /amcl/max_particles * /amcl/laser_z_max * /move_base/local_costmap/footprint * /amcl/laser_model_type * /amcl/laser_z_hit * /move_base/local_costmap/publish_frequency * /amcl/odom_model_type * /amcl/min_particles * /amcl/laser_sigma_hit * /amcl/recovery_alpha_fast * /move_base/local_costmap/height * /move_base/TrajectoryPlannerROS/min_vel_x * /move_base/global_costmap/laser_scan_sensor/marking * /amcl/recovery_alpha_slow * /move_base/TrajectoryPlannerROS/acc_lim_x * /amcl/laser_z_short * /move_base/global_costmap/transform_tolerance * /move_base/global_costmap/update_frequency * /move_base/local_costmap/transform_tolerance * /move_base/global_costmap/inflation_radius * /move_base/local_costmap/obstacle_range * /move_base/local_costmap/update_frequency * /move_base/global_costmap/laser_scan_sensor/sensor_frame * /move_base/global_costmap/raytrace_range * /move_base/local_costmap/raytrace_range * /move_base/global_costmap/obstacle_range * /move_base/local_costmap/inflation_radius * /amcl/laser_z_rand * /move_base/local_costmap/width * /move_base/local_costmap/laser_scan_sensor/clearing * /move_base/TrajectoryPlannerROS/acc_lim_y * /move_base/global_costmap/footprint * /move_base/global_costmap/global_frame * /amcl/transform_tolerance * /move_base/global_costmap/laser_scan_sensor/topic * /move_base/global_costmap/laser_scan_sensor/data_type * /move_base/TrajectoryPlannerROS/acc_lim_th * /amcl/kld_err * /amcl/odom_alpha4 * /amcl/odom_alpha5 * /move_base/local_costmap/global_frame * /amcl/odom_alpha1 * /amcl/odom_alpha2 * /amcl/odom_alpha3 * /move_base/TrajectoryPlannerROS/max_rotational_vel * /move_base/local_costmap/static_map * /move_base/local_costmap/resolution * /move_base/local_costmap/laser_scan_sensor/data_type * /move_base/TrajectoryPlannerROS/holonomic_robot * /move_base/local_costmap/laser_scan_sensor/marking * /amcl/kld_z * /amcl/odom_frame_id * /move_base/local_costmap/robot_base_frame * /amcl/resample_interval * /amcl/update_min_a * /move_base/local_costmap/observation_sources * /amcl/update_min_d * /move_base/global_costmap/observation_sources * /move_base/local_costmap/laser_scan_sensor/topic * /amcl/laser_lambda_short * /move_base/TrajectoryPlannerROS/max_vel_x * /move_base/local_costmap/rolling_window * /move_base/global_costmap/static_map * /move_base/global_costmap/laser_scan_sensor/clearing * /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel NODES / map_server (map_server/map_server) amcl (amcl/amcl) move_base (move_base/move_base) ROS_MASTER_URI=http://DFKIShankerMBpro:11311/ core service [/rosout] found process[map_server-1]: started with pid [11515] process[amcl-2]: started with pid [11516] process[move_base-3]: started with pid [11517] [ INFO] [1290511268.195739611]: Subscribed to Topics: laser_scan_sensor [ WARN] [1290511273.204655771]: Waiting on transform from base_link to /map to become available before running costmap, tf error: Frame id /map does not exist! [ WARN] [1290511278.298101570]: Waiting on transform from base_link to /map to become available before running costmap, tf error: Frame id /map does not exist! [ INFO] [1290511280.473965257]: Requesting the map... [ INFO] [1290511280.475752738]: Still waiting on map... [ INFO] [1290511281.478056618]: Still waiting on map... [ INFO] [1290511282.480131699]: Received a 384 X 832 map at 0.100000 m/pix [ INFO] [1290511282.648170444]: MAP SIZE: 384, 832 [ INFO] [1290511282.654468446]: Subscribed to Topics: laser_scan_sensor [ INFO] [1290511282.692034129]: Requesting the map... [ INFO] [1290511282.694425450]: Still waiting on map... [ WARN] [1290511283.708149491]: 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 [ INFO] [1290511283.708245171]: Received a 384 X 832 map at 0.100000 m/pix Then I run : shanker@DFKIShankerMBpro:~/Workspace/maps$ rosrun simple_navigation_goals simple_navigation_goals [ INFO] [1290511325.971896256]: Sending goal [ INFO] [1290511326.423739671]: The base failed to move forward 1 meter for some reason Then in the other window it continues: [ WARN] [1290511326.323951650]: Publisher on '/cmd_vel' destroyed immediately after creation. Did you forget to store the handle? [ERROR] [1290511326.423324991]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors Here is my simple_navigation_goals file: 20 //we'll send a goal to the robot to move 1 meter forward 21 goal.target_pose.header.frame_id = "base_link"; 22 goal.target_pose.header.stamp = ros::Time::now(); 23 24 goal.target_pose.pose.position.x = 0.2; 25 goal.target_pose.pose.orientation.w = 1.0; 26 27 ROS_INFO("Sending goal"); 28 ac.sendGoal(goal); The change I've made above is simply to move only 0.2 m ahead, just to test the program. Here are the topics that I generate: robo@pioneer3at:~$ rostopic list /amcl_pose /clock /cmd_vel /initialpose /map /map_metadata /move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles /move_base/NavfnROS/NavfnROS_costmap/obstacles /move_base/NavfnROS/NavfnROS_costmap/robot_footprint /move_base/NavfnROS/NavfnROS_costmap/unknown_space /move_base/NavfnROS/plan /move_base/TrajectoryPlannerROS/global_plan /move_base/TrajectoryPlannerROS/local_plan /move_base/cancel /move_base/current_goal /move_base/feedback /move_base/global_costmap/inflated_obstacles /move_base/global_costmap/obstacles /move_base/global_costmap/robot_footprint /move_base/global_costmap/unknown_space /move_base/goal /move_base/local_costmap/inflated_obstacles /move_base/local_costmap/obstacles /move_base/local_costmap/robot_footprint /move_base/local_costmap/unknown_space /move_base/result /move_base/status /move_base_simple/goal /odom /particlecloud /reset_time /rosout /rosout_agg /scan /tf /tf_message /time Necessary details on individual topics: TF robo@pioneer3at:~$ rostopic echo -c /tf transforms: [ header: seq: 42319 stamp: 1290511461348894000 frame_id: /base_link child_frame_id: /laser transform: translation: x: 0.1 y: 0.0 z: 0.0 rotation: x: 0.0 y: 0.0 z: 0.0 w: 1.0] transforms: [ header: seq: 0 stamp: 1290511461144931000 frame_id: /map child_frame_id: /odom transform: translation: x: -6.05727013824e-06 y: 0.000999981654571 z: -0.0 rotation: x: -0.0 y: -0.0 z: 0.00302864895962 w: 0.999995413632] transforms: [ header: seq: 6347 stamp: 1290511461326456000 frame_id: /odom child_frame_id: /base_link transform: translation: x: 0.0 y: -0.001 z: 0.0 rotation: x: 0.0 y: -0.0 z: -0.00302864895962 w: 0.999995413632] Odometry header: seq: 14072 stamp: 1290511718818769000 frame_id: odom child_frame_id: pose: pose: position: x: 0.0 y: -0.001 z: 0.0 orientation: x: -0.0 y: 0.0 z: 0.00302864895962 w: -0.999995413632 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] twist: twist: linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] Parameter files: Costmap: obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[27.5,32.5], [-27.5,32.5], [-27.5,-32.5], [27.5,-32.5]] observation_sources: laser_scan_sensor transform_tolerance: 0.3 laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true} inflation_radius: 0.55 Base local planner: TrajectoryPlannerROS: max_vel_x: 0.45 min_vel_x: 0.1 max_rotational_vel: 1.0 min_in_place_rotational_vel: 0.4 acc_lim_th: 3.2 acc_lim_x: 2.5 acc_lim_y: 2.5 holonomic_robot: false Local Costmap file: local_costmap: global_frame: odom robot_base_frame: base_link update_frequency: 1 publish_frequency: 0 static_map: true rolling_window: true width: 6.0 height: 6.0 resolution: 0.1 Global costmap file: global_costmap: global_frame: /map robot_base_frame: base_link update_frequency: 1.0 static_map: true Diagnostics: ROSWTF Before running simple nav goals: shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$ roswtf Loaded plugin tf.tfwtf Package: 2dnav_PioneerDFKI ================================================================================ Static checks summary: Found 1 warning(s). Warnings are things that may be just fine, but are sometimes at fault WARNING The following packages have msg/srv-related cflags exports that are no longer necessary : * tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp * nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp * sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp * costmap_2d: -I${prefix}/msg/cpp * actionlib_msgs: -I${prefix}/msg/cpp * geometry_msgs: -I${prefix}/msg/cpp * visualization_msgs: -I${prefix}/msg/cpp * move_base_msgs: -I${prefix}/msg/cpp * base_local_planner: -I${prefix}/msg/cpp * actionlib: -I${prefix}/msg/cpp * navfn: -I${prefix}/srv/cpp ================================================================================ 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: * /initialpose * /reset_time * /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) * /amcl->/rosout (/rosout) * /map_server->/rosout (/rosout) * /tflaserlink->/rosout (/rosout) * /odomesub->/rosout (/rosout) After running simple navigation goals: shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$ roswtf Loaded plugin tf.tfwtf Package: 2dnav_PioneerDFKI ================================================================================ Static checks summary: Found 1 warning(s). Warnings are things that may be just fine, but are sometimes at fault WARNING The following packages have msg/srv-related cflags exports that are no longer necessary : * tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp * nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp * sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp * costmap_2d: -I${prefix}/msg/cpp * actionlib_msgs: -I${prefix}/msg/cpp * geometry_msgs: -I${prefix}/msg/cpp * visualization_msgs: -I${prefix}/msg/cpp * move_base_msgs: -I${prefix}/msg/cpp * base_local_planner: -I${prefix}/msg/cpp * actionlib: -I${prefix}/msg/cpp * navfn: -I${prefix}/srv/cpp ================================================================================ 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: * /initialpose * /reset_time * /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->/simple_navigation_goals (/move_base/result) * /move_base->/rosout (/rosout) * /sicklms->/rosout (/rosout) * /amcl->/rosout (/rosout) * /map_server->/rosout (/rosout) * /tflaserlink->/rosout (/rosout) * /move_base->/simple_navigation_goals (/move_base/feedback) * /odomesub->/rosout (/rosout) RXGraph http://ros-users.122217.n3.nabble.com/file/n1956004/Beforesimplenav.jpg The map I used : http://ros-users.122217.n3.nabble.com/file/n1956004/broadcorridor1.jpg broadcorridor1.yaml: image: broadcorridor1.pgm resolution: 0.100000 origin: [-20.000000, -64.800000, 0.000000] negate: 0 occupied_thresh: 0.65 free_thresh: 0.196 Questions: 1. One thing Im not sure is that the "origin" part of the map yaml file says (-20, -64.8). That's the pixel in the image is it not? And not the odometry on the robot when I started the map? I'm fairly confident that I started at odometry (0,0) when I started mapping. 2. Is this simply a localization issue that it thinks it is at a different position than I assume? Is there a separate error message if that happens? Thanks for your time, Best Shanker -- View this message in context: http://ros-users.122217.n3.nabble.com/Navigation-stack-Error-Aborting-because-a-valid-plan-could-not-be-found-tp1956004p1956004.html Sent from the ROS-Users mailing list archive at Nabble.com.