Eitan

On Fri, Sep 24, 2010 at 3:40 AM, safdar_zaman <safdaraslam@yahoo.com> wrote:

Hi dear all,
During Path planning of Poineer P3-DX I bring up everything,
roscore,ROSARIA,sicklms,mapserver,amcl_diff.launch,move_base.launch and
rviz. Everything seems fine until I give the goal by pressing 2D Nav Goal
button in rviz. I give goal to move Robot one meter forward.It shows the
correct path to our goal on rviz avoiding obstacles. but after a while when
Robot starts moving on the goal it always moves backwards slowly and does
not stop. Somewhere stops for a nanosecond and then continues moving
backwards again,I switch it off for stopping. Can any one help to fix it ?
I use the tutorial http://www.ros.org/wiki/navigation/Tutorials/RobotSetup:
with following files:

move_base.launch:
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base"
output="screen">
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/costmap_common_params.yaml"
command="load" ns="global_costmap" />
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/costmap_common_params.yaml"
command="load" ns="local_costmap" />
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/local_costmap_params.yaml"
command="load" />
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/global_costmap_params.yaml"
command="load" />
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/base_local_planner_params.yaml"
command="load" />
</node>
</launch>
----------------------
costmap_common_params.yaml:
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 : 0.5
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan,
marking: true, clearing: true}
--------------
local_costmap_params.yaml:
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
-------------------------
global_costmap_params.yaml:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: true
---------------------------
base_local_planner_params.yaml:
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
------------------------------
thanks in advance
--
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