Dan, First off, glad to hear that at least the basic stuff is working. On Wed, Mar 31, 2010 at 10:48 AM, Dan Lazewatsky wrote: > Eitan, > I copied nav_view.xml from move_base_stage/move_base, changing the > remappings to topics that exist in my system. That along with your two > suggestions seem to have done the trick. There are, however, a few odd > things: > > -when I start up nav_view, the map takes a *really* long time to show up - > on the order of 5 minutes > We've seen things like this when our network communication is really bad. Are you talking to the robot over a wireless link? Have you looked at the ping times to the robot? If you have a solid connection, it'd be strange to see the map take that long. > -once the robot gets to its goal, it spins around a lot before stopping > It may be that the robot is having a bit of trouble achieving its goal within the user-specified tolerances. This could be due to AMCL being a little bit off or overshoot by the robot when it rotates in place (see ticket: https://code.ros.org/trac/ros-pkg/ticket/3127). You might want to try setting the goal tolerance parameters ( http://www.ros.org/wiki/base_local_planner#Goal_Tolerance_Parameters) on the base_local_planner to be a little more lenient... particularly the rotational one. > -nav_view seems a bit unstable - ubuntu frequently grays it out thinking > it's crashed > This again seems like nav_view is losing connectivity to the robot. My first hunch is that the network connection is a bit flaky. Hope all is well, Eitan > > Thanks for the help, > -Dan > > > On 3/31/10 12:24 PM, Eitan Marder-Eppstein wrote: > > 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 < >> lazewatskyd@cse.wustl.edu> 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 >> >> > > _______________________________________________ > 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 > >