Hello experts,
My navigation stack produces below messages when tried to run. I have
installed the latest version of cturtle.
The same process did run at the time of boxturtle which i was having
before.
Stack trial run:
NODES
/
joint_state_pub (eskorta_urdf/state_publisher)
eskorta_state (robot_state_publisher/state_publisher)
hokuyo_node (hokuyo_node/hokuyo_node)
laser_filter (laser_filters/scan_to_scan_filter_chain)
eskorta_odom (eskorta_driver/odom)
map_server (map_server/map_server)
amcl (amcl/amcl)
move_base (move_base/move_base)
starting new master (master configured for auto start)
process[master]: started with pid [2451]
ROS_MASTER_URI=http://rootx-desktop:11311/
setting /run_id to 645f0772-c2e7-11df-9f0d-002215b5da2f
process[rosout-1]: started with pid [2464]
started core service [/rosout]
process[joint_state_pub-2]: started with pid [2467]
process[eskorta_state-3]: started with pid [2468]
process[hokuyo_node-4]: started with pid [2469]
process[laser_filter-5]: started with pid [2470]
process[eskorta_odom-6]: started with pid [2471]
process[map_server-7]: started with pid [2472]
process[amcl-8]: started with pid [2473]
process[move_base-9]: started with pid [2474]
[ INFO] [1284788497.947511323]: Requesting the map...
[ WARN] [1284788497.949115279]: Request for map failed; trying again...
[ WARN] [1284788498.462321415]: Request for map failed; trying again...
[ INFO] [1284788498.607242667]: Subscribed to Topics:
[ WARN] [1284788498.978577807]: Request for map failed; trying again...
[ INFO] [1284788499.591024236]: Received a 4000 X 4000 map @ 0.050 m/pix
[ INFO] [1284788499.847158606]: Initializing likelihood field model; this
can take some time on large maps...
[ INFO] [1284788500.478314502]: Done initializing likelihood field model.
[ WARN] [1284788503.647894146]: Waiting on transform from base_link to /map
to become available before running costmap, tf error: Frame id /map does
not exist!
[ WARN] [1284788508.707605734]: Waiting on transform from base_link to /map
to become available before running costmap, tf error: Frame id /map does
not exist!
[ WARN] [1284788513.766069750]: Waiting on transform from base_link to /map
to become available before running costmap, tf error: Frame id /map does
not exist!
[ WARN] [1284788515.493799194]: MessageFilter [target=/odom ]: Dropped
100.00% of messages so far. Please turn the [ros.amcl.message_notifier]
rosconsole logger to DEBUG for more information.
[ WARN] [1284788518.835511314]: Waiting on transform from base_link to /map
to become available before running costmap, tf error: Frame id /map does
not exist!
[ WARN] [1284788523.899506188]: Waiting on transform from base_link to /map
to become available before running costmap, tf error: Frame id /map does
not exist!
My URDF parsed as:
---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
child(1): base_link
child(1): base_laser_link
child(2): cast_rotation_link
child(1): cast_wheel_link
child(3): l_rotation_link
child(1): l_wheel_link
child(4): r_rotation_link
child(1): r_wheel_link
My tf frames expected settings are:
/map->/odom->/base_link->/base_laser_link
My configuration yamls are: ( please note: i have set some dummy values.)
costmap_common.yaml
obstacle_range: 1.0
raytrace_range: 1.5
max_obstacle_height: 1.0
footprint: [[-0.200, -0.350], [-0.200, 0.350], [0.200, 0.350], [0.200,
-0.350]]
inflation_radius: 0.55
observation_sources: laser_scan_sensor
# max_obstacle_height, min_obstacle_height, obstacle_range, raytrace_range
laser_scan_sensor: {sensor_frame: base_laser_link, data_type: LaserScan,
topic: /scan, marking: true, clearing: true}
costmap_global.yaml
global_costmap:
global_frame: /map
robot_base_frame: base_link
transform_tolerance: 0.3
update_frequency: 5.0
static_map: true
rolling_window: false
costmap_local.yaml
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
AMCL:
my_nav_launch file
where map is of willow-garage with 4000 x 4000 in size.
odom
The ROS- odometry tutorial program.
Tried few workarounds which failed:
1. I tried to change my map reducing to small as a blank map.
2. I tried to set frequencies at odom level, amcl level, both the
costmaps.
3. Finally i used static transform for . this resolves my warnings but completely hangs the
process.
4. The "navigation tutorial" also mentions the map as below, but if i give
my_map.pgm it does not recognize it and expects .yaml file instead of .pgm
5. Tried to pass to
parameter server.
6. Changed AMCL to default AMCL node which is inside ROS-stack instead of
my own copy.
Considering node sequence "AMCL" is being started before move_base and it
also receives the map for the reference. AMCL
Am i missing something? Is it due to larger map size?
Please let me know if anyone has any clue.
With best regards,
Prasad Dixit