Hello everyone:

I have been trying to run the navigation stack on a Pioneer P3AT. In order
to do so I first run all of the following nodes:

1. ROSARIA as my odometry source.
2. Sicktoolbox wrapper as my sensor scan source.
3. TF program
4. Gmapping used only for the transform between /map and /odom.

The result of my tf tree is the following:

Map->odom. Broadcasted by Gmapping
odom->base_link. Broadcasted by the tf program I am using.
base_link->base_scan. Broadcasted by the tf program I am using.

Afterwards, I run the move_base node. Following is the content of my launch
file:

<launch>
  <master auto="start"/>

  <node ns="local_costmap" name="voxel_grid_throttle" pkg="topic_tools"
type="throttle" args="messages voxel_grid 3.0 voxel_grid_throttled" />


  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find
itesm_demo)/mapaultimo.png 0.05"/>

  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base"
output="screen">
    <rosparam file="$(find 2dnav_pio)/config/costmap_common_params.yaml"
command="load" ns="global_costmap" />
    <rosparam file="$(find 2dnav_pio)/config/costmap_common_params.yaml"
command="load" ns="local_costmap" />
    <rosparam file="$(find 2dnav_pio)/config/local_costmap_params.yaml"
command="load" />
    <rosparam file="$(find 2dnav_pio)/config/global_costmap_params.yaml"
command="load" />
    <rosparam file="$(find 2dnav_pio)/config/base_local_planner_params.yaml"
command="load" />
    <rosparam file="$(find 2dnav_pio)/config/navfn_params.yaml"
command="load" />
</node>
</launch>

The content of my configuration files is the following:

*Costmap_common_params:*

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]]
#robot_radius: ir_of_robot
inflation_radius: 0.55
transform_tolerance: 10

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic:
base_scan, marking: true, clearing: true}

*Local_costmap_params:
*
local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 2.0
  publish_frequency: 1.0
  static_map: true
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.1
*
Global_costmap_params:*

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 2.0
  static_map: true
  rolling_window: true
*
Base_local_planner:*

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

*Navfn_params:*

NavfnROS:
  transform_tolerance: 0.3


When I open rviz the inflated obstacles, the robot footprint, the obstacles
and the map are correctly displayed. However, the global and local plan
aren't.

Which I find most concerning is that the Particle cloud is never displayed
and when I try to indicate a 2D Pose Estimate, it is ignored.


I have't been able to figure which is the problem with the particle cloud
since rxgraph shows that this topic is being published by amcl and rviz is
subscribing to it. However, when trying to display rostopic echo
particlecloud nothing is shown. The terminal on which my move_base launch
file displays no errors and the one in which rviz is running shows that the
pose is being set.

I would be very grateful if any of you had any clue concerning the conflicts
I am having,

Best regards!


Laura Isabel Galíndez Olascoaga
ITESM-CEM