Hitesh, <div><br></div><div>These are parameters and you will need to set them appropriately for your system, they have defaults but there&#39;s no other logic.  </div><div><br></div><div>If you are not going to be running localization, I would suggest you set both of them to use odom as their &quot;global_frame&quot;.  Using base_link will not work, that will cause the obstacles to be aggregated in the frame of the robot, and they won&#39;t update as the robot moves past the obstacles.  </div>

<div><br></div><div>Tully<br><br><div class="gmail_quote">On Sat, May 8, 2010 at 12:56 AM, hitesh dhiman <span dir="ltr">&lt;<a href="mailto:hitesh.dhiman.1988@gmail.com">hitesh.dhiman.1988@gmail.com</a>&gt;</span> wrote:<br>

<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Hi all,<div>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.</div>


<div>Now, the tf tree for the simulation is as follows:</div><div><br></div><div>                                                                      / --&gt; /base_laser</div><div>                                                                     /</div>


<div>/map -----&gt; /odom -------&gt; /base_link ----- /------&gt; /base_caster &amp; /base_top<br>                                                                    \</div><div>                                                                     \</div>


<div>                                                                      \  --&gt; /base_footprint</div><div><br></div><div><br></div><div>The next part for us is to run the robot in the real world, but we don&#39;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&#39;s actual odometry information.</div>


<div>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??</div>

<div><div></div><div class="h5">
<div><br></div><div><br></div><div><br></div><div><br><div class="gmail_quote">On Sat, May 8, 2010 at 12:57 PM, Anh Tran <span dir="ltr">&lt;<a href="mailto:anhxuan.tran@gmail.com" target="_blank">anhxuan.tran@gmail.com</a>&gt;</span> wrote:<br>


<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">Hello Hitesh,<div><br></div><div>Let me elaborate on Anton&#39;s reply.</div><div><br></div><div>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): <a href="http://code.google.com/p/ua-ros-pkg/" target="_blank">http://code.google.com/p/ua-ros-pkg/</a></div>



<div><br></div><div><a href="http://code.google.com/p/ua-ros-pkg/" target="_blank"></a>2. Checkout the wubble_navigation package for a demo: <a href="http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation" target="_blank">http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation</a></div>



<div><br></div><div><a href="http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation" target="_blank"></a>3. Rosmake wubble_navigation and launch the demos in that package.</div>


<div><br></div><div>
<br></div><div>Checkout this youtube video to see how 2dnav works with our current erratic model: <a href="http://www.youtube.com/watch?v=aA0gOd2P5jk" target="_blank">http://www.youtube.com/watch?v=aA0gOd2P5jk</a><br clear="all">


<br></div>
<div><br></div><div><br>Cheers,<br><font color="#888888">Anh Tran</font><div><div></div><div><br>
<br><br><div class="gmail_quote">On Fri, May 7, 2010 at 1:20 PM, Antons Rebguns <span dir="ltr">&lt;<a href="mailto:arebgun@gmail.com" target="_blank">arebgun@gmail.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">



-----BEGIN PGP SIGNED MESSAGE-----<br>
Hash: SHA1<br>
<br>
Hi Hitesh,<br>
<br>
We spent some time getting the nav stack working for our erratic robot both in simulation and real robot. Maybe you can<br>
take a look at this package and see if that works for you.<br>
<br>
You would need ua_navigation stack from <a href="http://code.google.com/p/ua-cs665-ros-pkg/" target="_blank">http://code.google.com/p/ua-cs665-ros-pkg/</a> (specifically look at<br>
<a href="http://code.google.com/p/ua-cs665-ros-pkg/source/browse/trunk/ua_navigation/wubble_navigation/launch/2dnav_wg.launch" target="_blank">http://code.google.com/p/ua-cs665-ros-pkg/source/browse/trunk/ua_navigation/wubble_navigation/launch/2dnav_wg.launch</a><br>




launch file) and stuff from <a href="http://code.google.com/p/ua-ros-pkg/" target="_blank">http://code.google.com/p/ua-ros-pkg/</a>.<br>
<br>
There are instruction on the wiki how to download and compile everything, but let me know if you have any questions.<br>
<br>
Anton<br>
<div><div></div><div><br>
On 05/06/2010 05:08 AM, hitesh dhiman wrote:<br>
&gt; Hi all,<br>
&gt; I&#39;m trying to run the erratic gazebo path planning, using the willow<br>
&gt; garage map provided.<br>
&gt; I&#39;m using all custom parameters. However, the path planning seems to be<br>
&gt; faltering. It is actually planning a path through the wall, I&#39;ve also<br>
&gt; attached a picture showing the path planning.<br>
&gt; Also, the inflated costmap is not being displayed, although the messages<br>
&gt; are being published and the rviz status says ok.<br>
&gt; Any idea what might be wrong?<br>
&gt;<br>
&gt;<br>
&gt; --<br>
&gt; Regards,<br>
&gt; Hitesh Dhiman<br>
&gt; Electrical Engineering<br>
&gt; National University of Singapore<br>
&gt;<br>
&gt;<br>
&gt;<br>
</div></div><div>&gt; _______________________________________________<br>
&gt; ros-users mailing list<br>
&gt; <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
&gt; <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br>
</div>-----BEGIN PGP SIGNATURE-----<br>
Version: GnuPG v1.4.10 (GNU/Linux)<br>
Comment: Using GnuPG with Mozilla - <a href="http://enigmail.mozdev.org/" target="_blank">http://enigmail.mozdev.org/</a><br>
<br>
iEYEARECAAYFAkvkdg0ACgkQ1B2I24nMQmp66QCeOgMh0sQgI465mQfvy4tldGt0<br>
u3QAnjSNBPfRvaQbAz5MorzffBxQ/V2j<br>
=x38F<br>
-----END PGP SIGNATURE-----<br>
<div><div></div><div>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
</div></div></blockquote></div><br></div></div></div>
<br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br><br clear="all"><br>-- <br>Regards,<br>Hitesh Dhiman<br>Electrical Engineering<br>National University of Singapore<br>
</div>
</div></div><br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>
</div>