On Wed, Dec 8, 2010 at 1:21 PM, laura galindez <laurago894@gmail.com> wrote:

Hello everyone:

I have been trying to run the navigation stack on a Pioneer P3AT. In order to do so I first run all of the following nodes:

1. ROSARIA as my odometry source.
2. Sicktoolbox wrapper as my sensor scan source.
3. TF program
4. Gmapping used only for the transform between /map and /odom.

The result of my tf tree is the following:

Map->odom. Broadcasted by Gmapping
odom->base_link. Broadcasted by the tf program I am using.
base_link->base_scan. Broadcasted by the tf program I am using.

Afterwards, I run the move_base node. Following is the content of my launch file:

<launch>
<master auto="start"/>

<node ns="local_costmap" name="voxel_grid_throttle" pkg="topic_tools" type="throttle" args="messages voxel_grid 3.0 voxel_grid_throttled" />


<node name="map_server" pkg="map_server" type="map_server" args="$(find itesm_demo)/mapaultimo.png 0.05"/>


<include file="$(find amcl)/examples/amcl_diff.launch" />

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find 2dnav_pio)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find 2dnav_pio)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find 2dnav_pio)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find 2dnav_pio)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find 2dnav_pio)/config/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find 2dnav_pio)/config/navfn_params.yaml" command="load" />
</node>
</launch>

The content of my configuration files is the following:

Costmap_common_params:

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: 10

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: base_scan, marking: true, clearing: true}

Local_costmap_params:

local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 2.0
publish_frequency: 1.0
static_map: true
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.1

Global_costmap_params:

global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 2.0
static_map: true
rolling_window: true

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

Navfn_params:

NavfnROS:
transform_tolerance: 0.3

When I open rviz the inflated obstacles, the robot footprint, the obstacles and the map are correctly displayed. However, the global and local plan aren't.

Which I find most concerning is that the Particle cloud is never displayed and when I try to indicate a 2D Pose Estimate, it is ignored.

I have't been able to figure which is the problem with the particle cloud since rxgraph shows that this topic is being published by amcl and rviz is subscribing to it. However, when trying to display rostopic echo particlecloud nothing is shown. The terminal on which my move_base launch file displays no errors and the one in which rviz is running shows that the pose is being set.

I would be very grateful if any of you had any clue concerning the conflicts I am having,

Best regards!

Laura Isabel Galíndez Olascoaga
ITESM-CEM

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