Dan, The Costmap2DROS transform timeouts could be a problem if they don't taper off after startup. A bunch of warnings right as you start isn't unexpected, but if they just keep spewing that means there is likely a timing issue. Do they keep spewing constantly or more or less stop after a few seconds? After looking at your configuration files, it seems that you're missing a pretty important line in costmap_common_params.yaml. You define a "laser_scan_sensor," but you never actually tell the navigation stack to use it. As such, you'll never see obstacles show up in the costmap. Add the following line to your costmap_common_params.yaml file: observation_sources: laser_scan_sensor This will tell the navigation stack that you'd like to use the laser_scan_sensor you defined. Hopefully, adding that line should get obstacles to show up for you. However, even without that, I would've expected the robot to move when you set a goal, it would just hit stuff. Are you sure that you were sending a goal on the correct topic? In rviz, you need to make sure to set the 2D Nav Goal topic to "move_base_simple/goal." I believe that both rviz and nav_view by default send to the "goal" topic instead. If you want to use nav_view, you'll have to remap in your launch file. You can see move_base_stage/move_base/nav_view.xml for an example of this. Oh... I think I may know why the robot doesn't move, you've defined your footprint by only 2 points. The navigation stack supports any convex polygon for a footprint and, therefore, needs at least three points to run. It also assumes that the robot is centered at (0, 0). If you want to define a square robot of the dimensions in your launch file you'll need to use the following: footprint: [[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]] You should have received a warning about this, but I just realized that the costmap uses ROS_ASSERT where it should be using ROS_FATAL. This means that all those warnings will be compiled out when run in release mode. I've ticketed fixing this here: https://code.ros.org/trac/ros-pkg/ticket/3939 Hope this helps and let me know how things go... we'll figure it out yet, Eitan On Wed, Mar 31, 2010 at 8:13 AM, Dan Lazewatsky wrote: > > On 3/30/10 7:55 PM, Eitan Marder-Eppstein wrote: > > Hey Dan, > > A few questions for ya to help figure out what's going on: > > 1) Have you tried using the rxconsole tool to see if any useful information > is being output from the system? If so, did you see anything that seemed to > be complaining or giving warnings? > > rxconsole doesn't show anything that seems too concerning. The worst is a > bunch of > Costmap2DROS transform timeout. Current time: ... > > > 2) What launch files are you running on the erratic? Are they the ones in > the 2dnav_erratic package? Or different ones that you created? We used to > have an erratic in-house, but we don't anymore and its been awhile since the > 2dnav_erratic package has been tested. If you're running with your own > configuration, could you post the files so I can take a look at them? > > I've attached the launch file and config files I'm using. The config files > were all setup according to this: > http://www.ros.org/wiki/navigation/Tutorials/RobotSetup > > > 3) Do you see any obstacles in nav_view? On second thought, rviz is a more > powerful debugging tool for this kind of stuff. Have you tried using rviz to > get useful debugging information (whether obstacles show up, a plan is > created, etc)? You can find a tutorial on using rviz with the navigation > stack here: > http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack > > nav_view and rviz don't show any obstacles, plan, or really anything but > the map. If I'm really lucky, rviz will show the amcl particle cloud. > > > > Ok... take a shot at answering these and we'll see if that gives a bit more > insight into what's going on. > > Hope all is well, > > Eitan > > On Tue, Mar 30, 2010 at 3:57 PM, Dan Lazewatsky > wrote: > >> Thanks for the response Eitan - >> I've created a map, and am trying to get an erratic to navigate in said >> map using nav_view. I set up the robot according the the nav robot setup >> tutorial, and when I run nav view I can see the map and set the robot's >> initial pose, but trying to set the goal doesn't seem to do anything. I get >> a printout from nav view saying "setting goal: Position(...)" but that's >> all. >> >> -Dan >> >> >> On 3/30/10 4:31 PM, Eitan Marder-Eppstein wrote: >> >> Dan, >> >> The wavefront package has fallen into a bit of disrepair as we favor our >> move_base package for autonomous navigation. If you're looking to run some >> autonomous navigation demos, check out the move_base_stage package instead >> of the 2dnav_stage package. The 2dnav_stage package will probably be removed >> in the near future to save people the confusion. >> >> Hope this helps, >> >> Eitan >> >> On Tue, Mar 30, 2010 at 12:07 PM, Dan Lazewatsky < >> lazewatskyd@cse.wustl.edu> wrote: >> >>> Hi all - I'm having some trouble using wavefront. When I try to start it >>> I get this: >>> >>> robotics@tears$ rosrun wavefront wavefront >>> terminate called after throwing an instance of 'ros::InvalidNameException' >>> what(): Using ~ names with NodeHandle methods is not allowed. If you want to use private names with the NodeHandle interface, construct a NodeHandle using a private name as its namespace. e.g. ros::NodeHandle nh("~"); nh.getParam("my_private_name"); (name = [~dist_eps]) >>> /home/robotics/ros/ros/bin/rosrun: line 35: 15562 Aborted $exepath "$@" >>> >>> Granted, I don't know what the right way to use wavefront since the >>> documentation is a bit spotty. >>> >>> Any ideas would be appreciated. >>> >>> Thanks, >>> -Dan >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >> >> _______________________________________________ >> ros-users mailing listros-users@code.ros.orghttps://code.ros.org/mailman/listinfo/ros-users >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing listros-users@code.ros.orghttps://code.ros.org/mailman/listinfo/ros-users > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >