Shanker,
Have you tried looking at things in rviz to see if the robot sees any obstacles that would prevent it from creating a valid plan.
Also, the origin of the map should be in meters, not in pixels. Based on the map you attached, this seems like it could be reasonable. Typically, 0.0, 0.0 corresponds to the point on the map where the robot started. You'll need to set the inital pose of the robot in the map for AMCL in order for things to work correctly. Have you been able to verify that localization works independent of the navigation stack by driving the robot around with a joystick?
Hope this helps,
Eitan
On Tue, Nov 23, 2010 at 12:11 PM, shankerk
<shankerkeshavdas@gmail.com> wrote:
Hi,
I have been setting up the navigation stack for a Pioneer 3 AT robot and
have run into some issues. I went through the ROS Users page and the
tutorials (of course), and though they helped clear small problems along the
way, I seem to have run into a dead-end. Any help is appreciated!
I followed this very well written tutorial (
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup ). I created a map,
then the test is as follows: First, I run my laser, odometry and tf node.
Then I run the "move_base.launch" and then "simple_navigation_goals", as
described in the tutorial.
Details:
Running move_base.launch
shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$
roslaunch move_base.launch
... logging to
/home/shanker/.ros/log/ad23bc38-f6f3-11df-bf25-34159e19aa5c/roslaunch-DFKIShankerMBpro-11496.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://DFKIShankerMBpro:46805/
SUMMARY
========
PARAMETERS
* /move_base/global_costmap/robot_base_frame
* /amcl/laser_likelihood_max_dist
* /amcl/laser_max_beams
* /move_base/local_costmap/laser_scan_sensor/sensor_frame
* /amcl/gui_publish_rate
* /amcl/max_particles
* /amcl/laser_z_max
* /move_base/local_costmap/footprint
* /amcl/laser_model_type
* /amcl/laser_z_hit
* /move_base/local_costmap/publish_frequency
* /amcl/odom_model_type
* /amcl/min_particles
* /amcl/laser_sigma_hit
* /amcl/recovery_alpha_fast
* /move_base/local_costmap/height
* /move_base/TrajectoryPlannerROS/min_vel_x
* /move_base/global_costmap/laser_scan_sensor/marking
* /amcl/recovery_alpha_slow
* /move_base/TrajectoryPlannerROS/acc_lim_x
* /amcl/laser_z_short
* /move_base/global_costmap/transform_tolerance
* /move_base/global_costmap/update_frequency
* /move_base/local_costmap/transform_tolerance
* /move_base/global_costmap/inflation_radius
* /move_base/local_costmap/obstacle_range
* /move_base/local_costmap/update_frequency
* /move_base/global_costmap/laser_scan_sensor/sensor_frame
* /move_base/global_costmap/raytrace_range
* /move_base/local_costmap/raytrace_range
* /move_base/global_costmap/obstacle_range
* /move_base/local_costmap/inflation_radius
* /amcl/laser_z_rand
* /move_base/local_costmap/width
* /move_base/local_costmap/laser_scan_sensor/clearing
* /move_base/TrajectoryPlannerROS/acc_lim_y
* /move_base/global_costmap/footprint
* /move_base/global_costmap/global_frame
* /amcl/transform_tolerance
* /move_base/global_costmap/laser_scan_sensor/topic
* /move_base/global_costmap/laser_scan_sensor/data_type
* /move_base/TrajectoryPlannerROS/acc_lim_th
* /amcl/kld_err
* /amcl/odom_alpha4
* /amcl/odom_alpha5
* /move_base/local_costmap/global_frame
* /amcl/odom_alpha1
* /amcl/odom_alpha2
* /amcl/odom_alpha3
* /move_base/TrajectoryPlannerROS/max_rotational_vel
* /move_base/local_costmap/static_map
* /move_base/local_costmap/resolution
* /move_base/local_costmap/laser_scan_sensor/data_type
* /move_base/TrajectoryPlannerROS/holonomic_robot
* /move_base/local_costmap/laser_scan_sensor/marking
* /amcl/kld_z
* /amcl/odom_frame_id
* /move_base/local_costmap/robot_base_frame
* /amcl/resample_interval
* /amcl/update_min_a
* /move_base/local_costmap/observation_sources
* /amcl/update_min_d
* /move_base/global_costmap/observation_sources
* /move_base/local_costmap/laser_scan_sensor/topic
* /amcl/laser_lambda_short
* /move_base/TrajectoryPlannerROS/max_vel_x
* /move_base/local_costmap/rolling_window
* /move_base/global_costmap/static_map
* /move_base/global_costmap/laser_scan_sensor/clearing
* /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel
NODES
/
map_server (map_server/map_server)
amcl (amcl/amcl)
move_base (move_base/move_base)
ROS_MASTER_URI=http://DFKIShankerMBpro:11311/
core service [/rosout] found
process[map_server-1]: started with pid [11515]
process[amcl-2]: started with pid [11516]
process[move_base-3]: started with pid [11517]
[ INFO] [1290511268.195739611]: Subscribed to Topics: laser_scan_sensor
[ WARN] [1290511273.204655771]: Waiting on transform from base_link to /map
to become available before running costmap, tf error: Frame id /map does not
exist!
[ WARN] [1290511278.298101570]: Waiting on transform from base_link to /map
to become available before running costmap, tf error: Frame id /map does not
exist!
[ INFO] [1290511280.473965257]: Requesting the map...
[ INFO] [1290511280.475752738]: Still waiting on map...
[ INFO] [1290511281.478056618]: Still waiting on map...
[ INFO] [1290511282.480131699]: Received a 384 X 832 map at 0.100000 m/pix
[ INFO] [1290511282.648170444]: MAP SIZE: 384, 832
[ INFO] [1290511282.654468446]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1290511282.692034129]: Requesting the map...
[ INFO] [1290511282.694425450]: Still waiting on map...
[ WARN] [1290511283.708149491]: You have set map parameters, but also
requested to use the static map. Your parameters will be overwritten by
those given by the map server
[ INFO] [1290511283.708245171]: Received a 384 X 832 map at 0.100000 m/pix
Then I run :
shanker@DFKIShankerMBpro:~/Workspace/maps$ rosrun simple_navigation_goals
simple_navigation_goals
[ INFO] [1290511325.971896256]: Sending goal
[ INFO] [1290511326.423739671]: The base failed to move forward 1 meter for
some reason
Then in the other window it continues:
[ WARN] [1290511326.323951650]: Publisher on '/cmd_vel' destroyed
immediately after creation. Did you forget to store the handle?
[ERROR] [1290511326.423324991]: Aborting because a valid plan could not be
found. Even after executing all recovery behaviors
Here is my simple_navigation_goals file:
20 //we'll send a goal to the robot to move 1 meter forward
21 goal.target_pose.header.frame_id = "base_link";
22 goal.target_pose.header.stamp = ros::Time::now();
23
24 goal.target_pose.pose.position.x = 0.2;
25 goal.target_pose.pose.orientation.w = 1.0;
26
27 ROS_INFO("Sending goal");
28 ac.sendGoal(goal);
The change I've made above is simply to move only 0.2 m ahead, just to test
the program.
Here are the topics that I generate:
robo@pioneer3at:~$ rostopic list
/amcl_pose
/clock
/cmd_vel
/initialpose
/map
/map_metadata
/move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles
/move_base/NavfnROS/NavfnROS_costmap/obstacles
/move_base/NavfnROS/NavfnROS_costmap/robot_footprint
/move_base/NavfnROS/NavfnROS_costmap/unknown_space
/move_base/NavfnROS/plan
/move_base/TrajectoryPlannerROS/global_plan
/move_base/TrajectoryPlannerROS/local_plan
/move_base/cancel
/move_base/current_goal
/move_base/feedback
/move_base/global_costmap/inflated_obstacles
/move_base/global_costmap/obstacles
/move_base/global_costmap/robot_footprint
/move_base/global_costmap/unknown_space
/move_base/goal
/move_base/local_costmap/inflated_obstacles
/move_base/local_costmap/obstacles
/move_base/local_costmap/robot_footprint
/move_base/local_costmap/unknown_space
/move_base/result
/move_base/status
/move_base_simple/goal
/odom
/particlecloud
/reset_time
/rosout
/rosout_agg
/scan
/tf
/tf_message
/time
Necessary details on individual topics:
TF
robo@pioneer3at:~$ rostopic echo -c /tf
transforms: [
header:
seq: 42319
stamp: 1290511461348894000
frame_id: /base_link
child_frame_id: /laser
transform:
translation:
x: 0.1
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0]
transforms: [
header:
seq: 0
stamp: 1290511461144931000
frame_id: /map
child_frame_id: /odom
transform:
translation:
x: -6.05727013824e-06
y: 0.000999981654571
z: -0.0
rotation:
x: -0.0
y: -0.0
z: 0.00302864895962
w: 0.999995413632]
transforms: [
header:
seq: 6347
stamp: 1290511461326456000
frame_id: /odom
child_frame_id: /base_link
transform:
translation:
x: 0.0
y: -0.001
z: 0.0
rotation:
x: 0.0
y: -0.0
z: -0.00302864895962
w: 0.999995413632]
Odometry
header:
seq: 14072
stamp: 1290511718818769000
frame_id: odom
child_frame_id:
pose:
pose:
position:
x: 0.0
y: -0.001
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.00302864895962
w: -0.999995413632
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]
Parameter files:
Costmap:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[27.5,32.5], [-27.5,32.5], [-27.5,-32.5], [27.5,-32.5]]
observation_sources: laser_scan_sensor
transform_tolerance: 0.3
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan,
marking: true, clearing: true}
inflation_radius: 0.55
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
Local Costmap file:
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 1
publish_frequency: 0
static_map: true
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.1
Global costmap file:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 1.0
static_map: true
Diagnostics:
ROSWTF
Before running simple nav goals:
shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$
roswtf
Loaded plugin tf.tfwtf
Package: 2dnav_PioneerDFKI
================================================================================
Static checks summary:
Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following packages have msg/srv-related cflags exports that are
no longer necessary
<export>
<cpp cflags="..."
</export>:
* tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
* nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
* sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
* costmap_2d: -I${prefix}/msg/cpp
* actionlib_msgs: -I${prefix}/msg/cpp
* geometry_msgs: -I${prefix}/msg/cpp
* visualization_msgs: -I${prefix}/msg/cpp
* move_base_msgs: -I${prefix}/msg/cpp
* base_local_planner: -I${prefix}/msg/cpp
* actionlib: -I${prefix}/msg/cpp
* navfn: -I${prefix}/srv/cpp
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /amcl:
* /initialpose
* /reset_time
* /move_base:
* /move_base_simple/goal
* /move_base/cancel
* /reset_time
* /tf_message
WARNING The following nodes are unexpectedly connected:
* /driver->/rosout (/rosout)
* /move_base->/rosout (/rosout)
* /sicklms->/rosout (/rosout)
* /amcl->/rosout (/rosout)
* /map_server->/rosout (/rosout)
* /tflaserlink->/rosout (/rosout)
* /odomesub->/rosout (/rosout)
After running simple navigation goals:
shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$
roswtf
Loaded plugin tf.tfwtf
Package: 2dnav_PioneerDFKI
================================================================================
Static checks summary:
Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following packages have msg/srv-related cflags exports that are
no longer necessary
<export>
<cpp cflags="..."
</export>:
* tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
* nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
* sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
* costmap_2d: -I${prefix}/msg/cpp
* actionlib_msgs: -I${prefix}/msg/cpp
* geometry_msgs: -I${prefix}/msg/cpp
* visualization_msgs: -I${prefix}/msg/cpp
* move_base_msgs: -I${prefix}/msg/cpp
* base_local_planner: -I${prefix}/msg/cpp
* actionlib: -I${prefix}/msg/cpp
* navfn: -I${prefix}/srv/cpp
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /amcl:
* /initialpose
* /reset_time
* /move_base:
* /move_base_simple/goal
* /move_base/cancel
* /reset_time
* /tf_message
WARNING The following nodes are unexpectedly connected:
* /driver->/rosout (/rosout)
* /move_base->/simple_navigation_goals (/move_base/result)
* /move_base->/rosout (/rosout)
* /sicklms->/rosout (/rosout)
* /amcl->/rosout (/rosout)
* /map_server->/rosout (/rosout)
* /tflaserlink->/rosout (/rosout)
* /move_base->/simple_navigation_goals (/move_base/feedback)
* /odomesub->/rosout (/rosout)
RXGraph
http://ros-users.122217.n3.nabble.com/file/n1956004/Beforesimplenav.jpg
The map I used :
http://ros-users.122217.n3.nabble.com/file/n1956004/broadcorridor1.jpg
broadcorridor1.yaml:
image: broadcorridor1.pgm
resolution: 0.100000
origin: [-20.000000, -64.800000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
Questions:
1. One thing Im not sure is that the "origin" part of the map yaml file says
(-20, -64.8). That's the pixel in the image is it not? And not the odometry
on the robot when I started the map? I'm fairly confident that I started at
odometry (0,0) when I started mapping.
2. Is this simply a localization issue that it thinks it is at a different
position than I assume? Is there a separate error message if that happens?
Thanks for your time,
Best
Shanker
--
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