it seems erratic_gazebo launch files for 2dnav stack has fallen out of date,
the "old" saying is true after all... "untested software is broken software" :)
if the arrg stack works (or a brave soul can revive the example based on the tested pr2 navigation package), we should consider creating a regression test for the erratic 2dnav demo and I'll happily add it to the hudson collection.
John
Nicolás,
The erratic stack in WG repository is not maintained anymore. Can you try an erratic stack from our repository and see if it works better for you. I just added a few demos of nav stack in there. The source code is available here:
http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/videre_erratic/
There are a few launch files in erratic_navigation_apps stack under gazebo_demo folder that you might try.
Let me know if you have any problems.
Thanks,
Anton2010/12/21 Nicolás Alvarez Picco <nicolasapicco@hotmail.com>
_______________________________________________hi everyone!
I am working with a simulated erratic model in gazebo, the model is the same that it is in the erratic simulation tutorial. The thing is that I have build a 3d map inside an empty world and i want to show that in rviz, so I am using the map server to show the map. As I have problems with the localization of the robot in the map that I showing in the rviz, I tried with the node fake-localization, but i have still drift with the laser points. Therefore my intention is to use the amcl node to have a better localization of my robot using the simulated laser info.
I am launching this files:
<launch>
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
<!-- start up wg world -->
<include file="$(find gazebo_worlds)/launch/testing_world.launch"/>
<!--<include file="$(find erratic_nav)/amcl.launch"/> -->
<!-- Static transforms -->
<include file="$(find han_Scene)/launch/static_transforms.launch"/>
<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find han_Scene)/scenarios/bar/map_config.yaml" />-->
<!-- Create a transform sender for linking these frames.
<node name="tf_footprint_base" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" /> -->
<!-- send pr2.xml to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find erratic_gazebo)/robots/erratic.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_erratic" pkg="gazebo_tools" type="gazebo_model" args="-z 0.051 -p robot_description spawn robot_description" respawn="false" output="screen" />
<!-- Controller Manager -->
<include file="$(find pr2_controller_manager)/controller_manager.launch" />
<!-- Fake Calibration -->
<node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />
<!-- load controllers -->
<node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive" respawn="true" output="screen"/>
<!-- Fake Localization
<node name="fake_localization" pkg="fake_localization" type="fake_localization" /> -->
<node pkg="amcl" type="amcl" name="amcl">
<remap from="scan" to="/base_scan" />
</node>
</launch>
<launch>
<!-- start gazebo with an empty plane -->
<param name="/use_sim_time" value="true" />
<node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/>
<!-- wg walls-->
<param name="walls" textfile="$(find han_Scene)/scenarios/bar/walls.model" />
<node name="xml2factor_wg_walls" pkg="gazebo" type="spawn_model" args="-gazebo -param walls -x -7.65 -y -7.65 -model walls" respawn="false" output="screen" />
</launch>
The thing is when I do this I have this error and its dies the amcl:
[amcl-15] process has died [pid 902, exit code -6].
log files: /home/robot/.ros/log/d5d7c27a-0d21-11e0-a4d4-0026b9e75b87/amcl-15*.log
If I try the same without launching the map_server node there is no problem. So is the amcl incompatible with the gazebo's simulations? how can I do this?
Thanks, i have try everything but I can't solve it.
Nicolas
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