On Tue, Nov 30, 2010 at 6:07 PM, shankerk
<shankerkeshavdas@gmail.com> wrote:
Hi Eitan,
Thanks for your reply. I tried the "RVIZ with navigation stack" tutorial.
The map was displayed properly, and I also added the pose array. But I was
unable to display the polygon showing the robot footprint. RVIZ warns me
that there are no messages received in
move_base/local_costmap/robot_footprint. There are also no messages received
for move_base/local_costmap/obstacles or inflated obstacles. And indeed,
when I 'rostopic echo' robot_footprint, I get no messages.
Are you sure that the publish_frequency parameter on the local costmap is set to something other than 0? You can find a description of the parameter here:
At this point, I went through all my files again and noticed that in
'costmap_common_params.yaml', I had written the robot footprint values in
centimeters and not in meters. I corrected this, so now the file looks like:
While this wasn't the problem you're having right now, it would have caused issues later. Meters are the correct units for any distance related parameters used by the navigation stack.
Costmap_common_params.yaml
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.275,0.325], [-0.275,0.325], [-0.275,-0.325], [0.275,-0.325]]
observation_sources: laser_scan_sensor
transform_tolerance: 2.0
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan,
marking: true, clearing: true}
inflation_radius: 0.55
I ran the simulation again. And the errors are still the same with no
differences. So I believe that was not the problem anyway.
When I run the Rviz with navigation goals tutorial,
I get the warning:
[ INFO] [1291168915.975023299]: Received a 384 X 832 map at 0.100000 m/pix
[ WARN] [1291168933.842753803]: The origin for the sensor at (0.10, -0.00,
0.00) is out of map bounds. So, the costmap cannot raytrace for it.
[ WARN] [1291168986.842490604]: The origin for the sensor at (0.10, -0.00,
0.00) is out of map bounds. So, the costmap cannot raytrace for it.
These warnings imply that your robot is not on the map. You'll want to set the initial pose of the robot using rviz to initialize AMCL and place the robot in the correct place. Until the robot's location is contained within the map I wouldn't expect much to work so I think that getting localization up and running is probably the best thing to focus on at this point.
Hope this helps,
Eitan
At this point, roswtf gives me:
roswtf:
shanker@DFKIShankerMBpro:~/Workspace/nifti/initial/subarchitectures/navigation.sa$
roswtf
Loaded plugin tf.tfwtf
Package: navigation.sa
================================================================================
Static checks summary:
No errors or warnings
================================================================================
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:
* /reset_time
* /rviz_1291167645895723737:
* /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)
* /initialpose->/rosout (/rosout)
* /sicklms->/rosout (/rosout)
* /amcl->/rosout (/rosout)
* /rviz_1291167645895723737->/rosout (/rosout)
* /map_server->/rosout (/rosout)
* /tflaserlink->/rosout (/rosout)
* /odomesub->/rosout (/rosout)
I will check localization without navigation and post my results.
Thanks for your help!
Shanker
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