Hitesh, As I mentioned in my last email. Please set both your costmap frames to "odom". Operating the costmap in the "base_link" frame is not valid. Tully On Mon, May 10, 2010 at 10:58 AM, Eitan Marder-Eppstein < eitan@willowgarage.com> wrote: > Hitesh, > > Sorry to hear that you're having trouble getting things up and running. A > few things to try: > > * Make sure that there are no warnings being printed from the navigation > stack. You can do this with rxconsole. > * Run a rostopic echo cmd_vel to see if the navigation stack is publishing > non-zero velocities. Make sure that the cmd_vel topic is properly connected > to your robot's base. You can use rxgraph to check if things are connected > properly > > Let me know how things go, we'll figure it out sooner or later. > > Hope all is well, > > Eitan > > > On Sun, May 9, 2010 at 10:38 PM, hitesh dhiman < > hitesh.dhiman.1988@gmail.com> wrote: > >> Hi all, >> Thanks for your reply. Actually we've been trying to get this working on >> our robot for quite some time now, about a month or so. I think it would be >> better if I explain the situation to you in detail. Our configuration is as >> follows: >> >> Local and Global costmap Frames: Local - base_link, Global : odom >> >> We are using the simple_navigation_goals package to send goals to our >> robot. >> Target frame for the goal: odom >> >> The environment is unknown, and we are not using any map. >> The odometry information is gathered in the form of x, y distance, and yaw >> angle from the robot, and transformation from odom to base_link is as >> follows: >> >> For distances: >> x : x_from_odometry - delta_x , >> y : y_from_odometry - delta_y , >> z : 0 >> >> For rotation: >> (0, 0, yaw_angle : yaw_from_odometry - delta_yaw) >> >> Here, all the delta values are previous values taken in from the robot. >> We have a transformation of (000, 000) from base_link to laser, and same >> for base_link to robot_footprint. >> While visualizing all this in rviz, we can see that the costmap works, >> inflated obstacles work, and path planning also works perfectly. For a goal >> of 2m forward, the path actually curves around obstacles. However, we don't >> see any local plan, and the robot does not follow the path generated. We've >> tried changing the parameters, but since the path planning works perfectly, >> we feel the problem has to be somewhere else. >> We thought the problem might be with our odometry and velocity data >> communication with the robot, but we've checked our odometry data and >> implementation of the velocity commands, and there was no error as such. >> Initially there was a delay in odom->base_link and base_link->laser tf, >> so we tried to do a waitfortransform(odom->base_link) in the >> base_link->laser tf, and now the buffer for both is 4.014 and 4.007 seconds. >> The frequency is different for both, (12Hz and 15 Hz). >> Still no luck. >> What do you think is the problem here? >> >> >> On Sun, May 9, 2010 at 7:07 AM, Tully Foote wrote: >> >>> Hitesh, >>> >>> These are parameters and you will need to set them appropriately for your >>> system, they have defaults but there's no other logic. >>> >>> If you are not going to be running localization, I would suggest you set >>> both of them to use odom as their "global_frame". Using base_link will not >>> work, that will cause the obstacles to be aggregated in the frame of the >>> robot, and they won't update as the robot moves past the obstacles. >>> >>> Tully >>> >>> >>> On Sat, May 8, 2010 at 12:56 AM, hitesh dhiman < >>> hitesh.dhiman.1988@gmail.com> wrote: >>> >>>> Hi all, >>>> Thanks for the help. I checked and compared the costmap parameters file, >>>> and in our case the laser_marking for base_scan was set to false. Once that >>>> was set to true, we could see the inflated obstacles and the path planning >>>> also worked. >>>> Now, the tf tree for the simulation is as follows: >>>> >>>> / >>>> --> /base_laser >>>> / >>>> /map -----> /odom -------> /base_link ----- /------> /base_caster & >>>> /base_top >>>> \ >>>> \ >>>> \ >>>> --> /base_footprint >>>> >>>> >>>> The next part for us is to run the robot in the real world, but we don't >>>> have a predefined map. We just want to give the robot a goal of 1m forward >>>> using simple_navigation_goals in an unknown environment. We are using the >>>> robot's actual odometry information. >>>> So my question is this: in the absence of a /map frame, will /odom be >>>> the global frame for both global and local costmap? Or will it shift down >>>> the heirarchy, for example now we have /map and /odom as global frames for >>>> global and local costmap respectively, will it be /odom and /base_link >>>> then?? >>>> >>>> >>>> >>>> >>>> On Sat, May 8, 2010 at 12:57 PM, Anh Tran wrote: >>>> >>>>> Hello Hitesh, >>>>> >>>>> Let me elaborate on Anton's reply. >>>>> >>>>> 1. You will need several packages from our ua-ros-pkg repository. It >>>>> might be easiest to checkout all packages from here (see our wiki pages from >>>>> same link for instructions): http://code.google.com/p/ua-ros-pkg/ >>>>> >>>>> 2. Checkout the >>>>> wubble_navigation package for a demo: >>>>> http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation >>>>> >>>>> >>>>> 3. >>>>> Rosmake wubble_navigation and launch the demos in that package. >>>>> >>>>> >>>>> Checkout this youtube video to see how 2dnav works with our current >>>>> erratic model: http://www.youtube.com/watch?v=aA0gOd2P5jk >>>>> >>>>> >>>>> >>>>> Cheers, >>>>> Anh Tran >>>>> >>>>> >>>>> >>>>> On Fri, May 7, 2010 at 1:20 PM, Antons Rebguns wrote: >>>>> >>>>>> -----BEGIN PGP SIGNED MESSAGE----- >>>>>> Hash: SHA1 >>>>>> >>>>>> Hi Hitesh, >>>>>> >>>>>> We spent some time getting the nav stack working for our erratic robot >>>>>> both in simulation and real robot. Maybe you can >>>>>> take a look at this package and see if that works for you. >>>>>> >>>>>> You would need ua_navigation stack from >>>>>> http://code.google.com/p/ua-cs665-ros-pkg/ (specifically look at >>>>>> >>>>>> http://code.google.com/p/ua-cs665-ros-pkg/source/browse/trunk/ua_navigation/wubble_navigation/launch/2dnav_wg.launch >>>>>> launch file) and stuff from http://code.google.com/p/ua-ros-pkg/. >>>>>> >>>>>> There are instruction on the wiki how to download and compile >>>>>> everything, but let me know if you have any questions. >>>>>> >>>>>> Anton >>>>>> >>>>>> On 05/06/2010 05:08 AM, hitesh dhiman wrote: >>>>>> > Hi all, >>>>>> > I'm trying to run the erratic gazebo path planning, using the willow >>>>>> > garage map provided. >>>>>> > I'm using all custom parameters. However, the path planning seems to >>>>>> be >>>>>> > faltering. It is actually planning a path through the wall, I've >>>>>> also >>>>>> > attached a picture showing the path planning. >>>>>> > Also, the inflated costmap is not being displayed, although the >>>>>> messages >>>>>> > are being published and the rviz status says ok. >>>>>> > Any idea what might be wrong? >>>>>> > >>>>>> > >>>>>> > -- >>>>>> > Regards, >>>>>> > Hitesh Dhiman >>>>>> > Electrical Engineering >>>>>> > National University of Singapore >>>>>> > >>>>>> > >>>>>> > >>>>>> > _______________________________________________ >>>>>> > ros-users mailing list >>>>>> > ros-users@code.ros.org >>>>>> > https://code.ros.org/mailman/listinfo/ros-users >>>>>> >>>>>> -----BEGIN PGP SIGNATURE----- >>>>>> Version: GnuPG v1.4.10 (GNU/Linux) >>>>>> Comment: Using GnuPG with Mozilla - http://enigmail.mozdev.org/ >>>>>> >>>>>> iEYEARECAAYFAkvkdg0ACgkQ1B2I24nMQmp66QCeOgMh0sQgI465mQfvy4tldGt0 >>>>>> u3QAnjSNBPfRvaQbAz5MorzffBxQ/V2j >>>>>> =x38F >>>>>> -----END PGP SIGNATURE----- >>>>>> _______________________________________________ >>>>>> ros-users mailing list >>>>>> ros-users@code.ros.org >>>>>> https://code.ros.org/mailman/listinfo/ros-users >>>>>> >>>>> >>>>> >>>>> _______________________________________________ >>>>> ros-users mailing list >>>>> ros-users@code.ros.org >>>>> https://code.ros.org/mailman/listinfo/ros-users >>>>> >>>>> >>>> >>>> >>>> -- >>>> Regards, >>>> Hitesh Dhiman >>>> Electrical Engineering >>>> National University of Singapore >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>>> >>>> >>> >>> >>> -- >>> Tully Foote >>> Systems Engineer >>> Willow Garage, Inc. >>> tfoote@willowgarage.com >>> (650) 475-2827 >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >> >> >> -- >> Regards, >> Hitesh Dhiman >> Electrical Engineering >> National University of Singapore >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Tully Foote Systems Engineer Willow Garage, Inc. tfoote@willowgarage.com (650) 475-2827