Christian,
One thing that I should have mentioned is that the pose_follower allows the robot to move backwards. It literally just tries to move from waypoint to waypoint along the global plan, so its important that you run it with a planner that specifies a meaningful orientation at each waypoint... navfn, for example, does not produce plans with this information, but something like the sbpl_lattice_planner would. I wouldn't recommend using the pose_follower unless its in conjunction with a global planner that takes the robot's footprint into account.
If you're receiving the "Not legal" error that, at least in theory, means that something is blocking the robot from proceeding along the path.
Hope this helps,
Eitan
On Thu, Sep 9, 2010 at 5:12 AM, Christian Verbeek
<verbeek@servicerobotics.eu> wrote:
Eitan,
I compiled the pose_follower and loaded it instead of the
base_local_planner. But still I am missing something. rviz does not show
a global plan any more. The robot moves, but backwards and the log gives
me the "Not legal" error from pose_follower.cpp line 169.
My launch files look like this and I think by kicking out the
base_local_planner I damaged something vital.
************ move_base.launch
<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
f5_navigation)/config/costmap_common_params.yaml" command="load"
ns="global_costmap" />
<rosparam file="$(find
f5_navigation)/config/costmap_common_params.yaml" command="load"
ns="local_costmap" />
<rosparam file="$(find
f5_navigation)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find
f5_navigation)/config/global_costmap_params.yaml" command="load" />
<!--<rosparam file="$(find
f5_navigation)/config/base_local_planner_params.yaml" command="load" />-->
<rosparam file="$(find
f5_navigation)/config/pose_follower_params.yaml" command="load" />
</node>
<node name="map_server" pkg="map_server" type="map_server"
args="$(find f5_robotinosim)/F5_Halle.yaml" respawn="false"
output="screen" />
***********pose_follower_params.yaml
base_local_planner: pose_follower/PoseFollower
PoseFollower:
max_vel_x: 0.4
min_vel_x: 0.05
max_rotational_vel: 0.4
min_in_place_rotational_vel: 0.15
acc_lim_th: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic: false