Hi Enea Scioni,
Thanks for so detailed answer: I followed your instruction and just
experimented again, following are the findings:
RosAria:
First RosAria is a node which enables us to move Real Robot (poineer P3DX),
It subscribes a topic /cmd_vel with geometry_msgs/Twist message.
some code from RosAria:
{
pos = robot->getPose();
tf::poseTFToMsg(tf::Pose(tf::Quaternion(pos.getTh()*M_PI/180, 0, 0),
tf::Vector3(pos.getX(), pos.getY(), 0)),
position.pose.pose);
position.twist.twist.linear.x = robot->getVel();
position.twist.twist.angular.z = robot->getRotVel()*M_PI/180;
position.header.frame_id = "odom";
position.header.stamp = ros::Time::now();
pose_pub.publish(position);
ROS_INFO("rcv: %f %f %f p.x: %f p.y: %f", position.header.stamp.toSec(),
(double) position.twist.twist.linear.x,
(double) position.twist.twist.angular.z, (double) pos.getX(), (double)
pos.getY());
ros::Duration(1e-3).sleep();
tf::Quaternion laserQ;
laserQ.setRPY(0.0, 0.0, pos.getTh());
tf::Transform txLaser = tf::Transform(laserQ,tf::Point(0.05, 0.0,
0.15));
tf.sendTransform(tf::StampedTransform(txLaser, ros::Time::now(),
"base_link", "laser"));//"base_laser_link"));
tf::Transform txIdentity(tf::createIdentityQuaternion(),
tf::Point(0.0, 0.0, 0.0));
tf.sendTransform(tf::StampedTransform(txIdentity,
ros::Time::now(),
"base_footprint",
"base_link"));
tf::Quaternion odomQ;
tf::quaternionMsgToTF(position.pose.pose.orientation, odomQ);
tf::Transform txOdom(odomQ, tf::Point((double) pos.getX()/1000.0,
(double) pos.getY()/1000.0, pos.getTh()/*0.0*/));
tf.sendTransform(tf::StampedTransform(txOdom, ros::Time::now() ,"odom",
"base_footprint"));
clockMsg.clock = ros::Time::now();
clock_pub.publish(clockMsg);
}
I run this node using [$rosrun ROSARIA RosAria _port:=/dev/ttyUSB0] then
this node starts and subscribes the topic /cmd_vel. Then I run my own made
node [$rosrun ROSARIA rob_key] which publishes geometry_msgs/Twist taking
commands by arrow keys of keyboard.
Frames:
I checked frames by [$rosrun tf view_frames], the frame's sequence is
correct and quite according to how you said, i.e.
with names and sequence : /map->/odom->/base_footprint->base_link->/laser
shown in frames.pdf.
map->odom : Broadcaster: /amcl , Average rate: 4.890 Hz, Most recent
transform: 0.155 sec old, Buffer length: 4.908 sec
odom->base_footprnt:Broadcaster:/RosAria,Average rate:10.204 Hz,Most recent
transform: 0.063 sec old,Buffer length: 4.900 sec
base_footprnt->base_link:same as above for odom->base_footprint
base_link->laser:same as above for base_footprint-> base_link
Sequence of the nodes I run:
1.$roscore
2.$rosrun ROSARIA RosAria _port:=/dev/ttyUSB0
3.$rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyUSB1 _baud:=38400
get message DataStream Received.
4.$roslaunch amcl_diff.launch from amcl/axamples> directory.
get message
[ WARN] [1283264052.917100260]: Request for map failed; trying again...
[ WARN] [1283264053.418347837]: Request for map failed; trying again...
[ WARN] [1283264053.926562217]: Request for map failed; trying again...
[ INFO] [1283264054.545362657]: Received a 4000 X 4000 map @ 0.050 m/pix
[ INFO] [1283264054.757590054]: map returned
[ INFO] [1283264054.766719775]: Initializing likelihood field model; this
can take some time on large maps...
[ INFO] [1283264055.174108077]: Done initializing likelihood field model.
[ WARN] [1283264055.247433315]: Message from [/sicklms] has a
non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is
will likely not work in multi-robot systems. This message will only print
once.
[ WARN] [1283264093.896718060]: Failed to transform initial pose in time
(You requested a transform that is 0.065 miliseconds in the past,
but the most recent transform in the tf buffer is 95.781 miliseconds old.
When trying to transform between /map and /base_link.
)
[ INFO] [1283264093.896820238]: Setting pose (1283264093.896801): 0.011
-0.010 0.000
5.$rosrun map_server map_server map.yaml
get message:
[ INFO] [1283264053.796235254]: Loading map from image "./map.pgm"
[ INFO] [1283264054.084837439]: Read a 4000 X 4000 map @ 0.050 m/cell
[ INFO] [1283264054.449655659]: Sending map
6.$rosrun rviz rviz
get message:
[ INFO] [1283264081.753891609]: Loading general config from
[/home/safdar/.rviz/config]
[ INFO] [1283264081.754240117]: Loading display config from
[/home/safdar/.rviz/display_config]
[ INFO] [1283264093.894115354]: Setting pose: 0.011 -0.010 0.000
[frame=/map]
AND
map.yaml contains:
[image: map.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
#origin: [0.000000, 0.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196]
THEN I MOVE ROBOT:
Moving Robot almost 1 meter in forward direction:
Starting till ending 1 meter motion of Robot ,I saved data from topics
/odom, /scan, /amcl_pose and /particlecloud as given below:
=====================================
TOPIC /amcl_pose:
---
header:
seq: 2
stamp:
secs: 1283264215
nsecs: 511374608
frame_id: map
pose:
pose:
position:
x: 0.247589351646
y: -0.014679411528
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.00336333731185
w: 0.999994343965
covariance: [0.29763234232004948, 0.0025907719733360285, 0.0, 0.0, 0.0,
0.0, 0.0025907719733360285, 0.24746057733576973, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.083540103401309157, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 3
stamp:
secs: 1283264216
nsecs: 151775071
frame_id: map
pose:
pose:
position:
x: 0.497609492943
y: 0.0093983678752
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.00909101066835
w: 0.999958675909
covariance: [0.33799146489379533, 0.010049943074077266, 0.0, 0.0, 0.0,
0.0, 0.010049943074077266, 0.27290467320518264, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.086906835608134989, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 4
stamp:
secs: 1283264216
nsecs: 579240571
frame_id: map
pose:
pose:
position:
x: 0.675671959326
y: 0.0277861157726
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.012026257738
w: 0.999927681947
covariance: [0.36283060340373735, 0.014118143333576845, 0.0, 0.0, 0.0,
0.0, 0.014118143333576845, 0.30805645206476079, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.099034657680711305, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 5
stamp:
secs: 1283264217
nsecs: 219611415
frame_id: map
pose:
pose:
position:
x: 0.843883973475
y: 0.047129095818
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0122639546581
w: 0.99992479488
covariance: [0.39540569106077028, 0.0092167690246466108, 0.0, 0.0, 0.0,
0.0, 0.0092167690246466108, 0.36344868131336877, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.11715264662452711, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
=========================
TOPIC /odom:
header:
seq: 1945
stamp:
secs: 1283264186
nsecs: 134936757
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 1946
stamp:
secs: 1283264186
nsecs: 234943671
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 1947
stamp:
secs: 1283264186
nsecs: 334954766
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
.
.
.
header:
seq: 2365
stamp:
secs: 1283264228
nsecs: 150935090
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 2366
stamp:
secs: 1283264228
nsecs: 250972872
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 2367
stamp:
secs: 1283264228
nsecs: 350933752
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 2368
stamp:
secs: 1283264228
nsecs: 452759196
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 2369
stamp:
secs: 1283264228
nsecs: 551957980
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
===============================
TOPIC /particleclouds
header:
seq: 2
stamp:
secs: 1283264215
nsecs: 756479577
frame_id: map
poses:
-
position:
x: 0.276259489987
y: 0.59703817945
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.149056594966
w: 0.988828666401
-
position:
x: 0.740718253068
y: -0.089673382954
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.136820644404
w: 0.990595836487
-
position:
x: -0.235402031999
y: -0.640814719739
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.0373773127287
w: 0.999301224103
-
position:
x: 0.195227750385
y: -0.533825584407
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.253166567161
w: 0.967422704546
-
position:
x: 1.06535852562
y: -0.111224649481
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.134672195018
w: 0.990890205769
-
position:
x: 0.509493294264
y: 0.382609565205
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.200947384627
w: 0.979602035835
-
position:
x: 0.106648801578
y: -0.0610606053734
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.261785029675
w: 0.965126208451
-
position:
x: 0.738234944648
y: 0.278477991024
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.0384439240972
w: 0.999260759111
-
position:
x: -0.297492221037
y: 0.558259590591
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.30049924452
w: 0.953782052695
-
position:
x: 0.0593276507712
y: 0.492263601603
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.181497946659
w: 0.983391323614
-
position:
x: 0.532087494476
y: 0.0744991931483
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.0384564241622
w: 0.999260278126
-
position:
x: 0.143513019496
y: -0.954441759189
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.182208088273
w: 0.983259992356
-
position:
x: 0.203350320118
y: 0.357348693277
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.131358876168
w: 0.99133488068
-
position:
x: -0.248090219989
y: 0.0224983919907
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0394652395713
w: 0.999220943969
-
position:
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TOPIC /scan
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intensities: []
Do you see anything problematic for localization?
Because I think localization is problematic that's why next step move_base
for path_planning does not work.
I am sorry that you had to read such a long message.
Please any idea?
with best regards,
safdar
--
View this message in context: http://ros-users.122217.n3.nabble.com/sensor-origin-tp1388170p1394818.html