Hi Eitan: I found it's really helpful for me. But I have some problem with it. First I found that when I type the command "roslaunch navigation_stage move_base_amcl_10cm.launch" ,it gets some errors as following: =============================error================================ jolin@ubuntu:~$ roslaunch navigation_stage move_base_amcl_10cm.launch ... logging to /home/jolin/.ros/log/bd60ed90-e22c-11df-a2d2-18f46a15a5f5/roslaunch-ubuntu-3560.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://ubuntu:36825/ SUMMARY ======== PARAMETERS * /use_sim_time * /move_base_node/global_costmap/observation_sources * /amcl/gui_publish_rate * /move_base_node/local_costmap/origin_y * /move_base_node/local_costmap/origin_x * /move_base_node/local_costmap/update_frequency * /move_base_node/local_costmap/origin_z * /move_base_node/global_costmap/base_scan/max_obstacle_height * /move_base_node/global_costmap/origin_z * /move_base_node/local_costmap/base_scan/marking * /move_base_node/local_costmap/observation_sources * /move_base_node/TrajectoryPlannerROS/vx_samples * /amcl/recovery_alpha_slow * /move_base_node/local_costmap/base_scan/clearing * /move_base_node/global_costmap/mark_threshold * /amcl/laser_z_short * /move_base_node/global_costmap/obstacle_range * /move_base_node/local_costmap/max_obstacle_height * /move_base_node/TrajectoryPlannerROS/sim_time * /move_base_node/TrajectoryPlannerROS/max_vel_x * /amcl/laser_z_max * /amcl/laser_z_rand * /move_base_node/TrajectoryPlannerROS/acc_lim_th * /move_base_node/global_costmap/base_scan/observation_persistence * /move_base_node/local_costmap/inflation_radius * /move_base_node/global_costmap/map_type * /move_base_node/TrajectoryPlannerROS/vtheta_samples * /move_base_node/TrajectoryPlannerROS/acc_lim_y * /move_base_node/TrajectoryPlannerROS/acc_lim_x * /move_base_node/global_costmap/static_map * /move_base_node/global_costmap/base_scan/data_type * /move_base_node/local_costmap/unknown_threshold * /move_base_node/global_costmap/footprint * /amcl/laser_lambda_short * /move_base_node/TrajectoryPlannerROS/sim_granularity * /move_base_node/local_costmap/base_scan/observation_persistence * /amcl/laser_max_beams * /move_base_node/local_costmap/z_resolution * /move_base_node/TrajectoryPlannerROS/min_vel_x * /move_base_node/local_costmap/map_type * /move_base_node/global_costmap/lethal_cost_threshold * /move_base_node/local_costmap/lethal_cost_threshold * /amcl/odom_model_type * /amcl/laser_sigma_hit * /amcl/recovery_alpha_fast * /move_base_node/global_costmap/inflation_radius * /move_base_node/global_costmap/z_voxels * /move_base_node/local_costmap/base_scan/data_type * /move_base_node/local_costmap/transform_tolerance * /move_base_node/global_costmap/robot_base_frame * /move_base_node/global_costmap/transform_tolerance * /move_base_node/local_costmap/global_frame * /move_base_node/local_costmap/rolling_window * /move_base_node/TrajectoryPlannerROS/dwa * /amcl/odom_alpha5 * /amcl/odom_alpha1 * /amcl/odom_alpha2 * /amcl/odom_alpha3 * /amcl/odom_alpha4 * /move_base_node/local_costmap/width * /stageros/base_watchdog_timeout * /move_base_node/global_costmap/base_scan/clearing * /move_base_node/local_costmap/publish_frequency * /amcl/max_particles * /move_base_node/local_costmap/height * /move_base_node/local_costmap/static_map * /move_base_node/global_costmap/cost_scaling_factor * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance * /amcl/min_particles * /move_base_node/global_costmap/global_frame * /move_base_node/TrajectoryPlannerROS/y_vels * /move_base_node/controller_frequency * /move_base_node/local_costmap/cost_scaling_factor * /move_base_node/TrajectoryPlannerROS/max_rotational_vel * /amcl/laser_model_type * /move_base_node/global_costmap/publish_frequency * /move_base_node/TrajectoryPlannerROS/goal_distance_bias * /amcl/transform_tolerance * /move_base_node/global_costmap/raytrace_range * /amcl/kld_err * /amcl/resample_interval * /move_base_node/global_costmap/update_frequency * /move_base_node/local_costmap/mark_threshold * /move_base_node/local_costmap/base_scan/max_obstacle_height * /move_base_node/local_costmap/obstacle_range * /move_base_node/local_costmap/robot_base_frame * /move_base_node/TrajectoryPlannerROS/heading_lookahead * /move_base_node/global_costmap/z_resolution * /move_base_node/TrajectoryPlannerROS/holonomic_robot * /move_base_node/local_costmap/footprint * /move_base_node/global_costmap/rolling_window * /amcl/laser_z_hit * /move_base_node/global_costmap/base_scan/expected_update_rate * /amcl/update_min_d * /move_base_node/local_costmap/raytrace_range * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel * /move_base_node/global_costmap/unknown_threshold * /move_base_node/TrajectoryPlannerROS/path_distance_bias * /move_base_node/global_costmap/max_obstacle_height * /amcl/odom_frame_id * /move_base_node/local_costmap/base_scan/min_obstacle_height * /move_base_node/global_costmap/base_scan/marking * /move_base_node/TrajectoryPlannerROS/prune_plan * /move_base_node/global_costmap/base_scan/min_obstacle_height * /move_base_node/local_costmap/z_voxels * /move_base_node/local_costmap/resolution * /move_base_node/footprint_padding * /move_base_node/TrajectoryPlannerROS/backup_vel * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist * /amcl/kld_z * /move_base_node/global_costmap/footprint_padding * /move_base_node/local_costmap/base_scan/expected_update_rate * /move_base_node/local_costmap/footprint_padding * /amcl/update_min_a * /amcl/laser_likelihood_max_dist * /move_base_node/local_costmap/publish_voxel_map * /move_base_node/TrajectoryPlannerROS/occdist_scale * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance NODES / move_base_node (move_base/move_base) map_server (map_server/map_server) stageros (stage/stageros) amcl (amcl/amcl) nav_view (nav_view/nav_view) starting new master (master configured for auto start) process[master]: started with pid [3573] ROS_MASTER_URI=http://ubuntu:11311/ setting /run_id to bd60ed90-e22c-11df-a2d2-18f46a15a5f5 process[rosout-1]: started with pid [3586] started core service [/rosout] process[move_base_node-2]: started with pid [3600] process[map_server-3]: started with pid [3601] process[stageros-4]: started with pid [3602] process[amcl-5]: started with pid [3608] process[nav_view-6]: started with pid [3617] [ INFO] [1288226763.463708926]: Subscribed to Topics: base_scan [stageros-4] process has died [pid 3602, exit code -11]. log files: /home/jolin/.ros/log/bd60ed90-e22c-11df-a2d2-18f46a15a5f5/stageros-4*.log =============================================end of error======================================================= It seems that stageros has some problems? And when I type the command "rosrun stage stageros /opt/ros/cturtle/stacks/navigation_tutorials/navigation_stage/stage_config/worlds/willow-pr2.world", it gets the following error: "/opt/ros/cturtle/ros/bin/rosrun: line 35: 4695 segment fault $exepath "$@"". What is happened? How can I solve this problem? The second question is that I have some puzzles with localization on the pr2 robot. When I type "roslaunch navigation_stage move_base_amcl_10cm.launch", I only get the Nav_view window, and it just have a map. What should I do to move the robot because when I type the "move" menu in the nav_view window, nothing happened. Thanks in advance. Looking forward to your replying! jolin On 2010-10-27 17:59, Eitan Marder-Eppstein wrote: > Joline > > To see an example of a robot running localization in simulation, you might > find it helpful to check out the navigation_stage package which includes > launch files for running amcl in the stage simulator. See > http://www.ros.org/wiki/navigation_stage. Any of the launch files with > "amcl" in the name should bring localization up. > > Hope this helps, > > Eitan > > On Wed, Oct 27, 2010 at 7:57 AM, Jolin Jia wrote: > > > > > jolin > > TJ University > > > > _______________________________________________ > > 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 >