Laura,

Firstly, I'm assuming you meant amcl used for the transform between /map and
/odom, since I see amcl in your launch file but not gmapping.

What is your fixed frame set to in rviz? I've seen similar behavior from the
2D Pose Estimate function in rviz if the fixed frame was set to, for
example, /odom. It should be set to /map for that functionality to work
correctly in my experience.

Does a particle cloud appear if you just start pushing the robot around?
Even if you don't give an initial estimate, amcl will still output a
(probably wrong) particle cloud if the robot begins to move around in the
map.

- Eric

On Wed, Dec 8, 2010 at 1:21 PM, laura galindez <laurago894@gmail.com> wrote:

> 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
>
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