Hi,
Thanks for your answers. This is what 'rosnode list' writes:
/amcl
/map_server
/move_base
/rosout
/stageros
Eitan, I understand what you are suggesting, but my map is centred in
(0, 0) coordinates and goes from (-29.35, -27) to (29.35, 27) metres,
which means that all the coordinates output by move_base are within the
map. I think the problem could be related to map_server, but I don't see
how. Here you have the launch file we use to launch 'amcl', 'move_base'
and 'map_server':
<launch>
<param name="/use_sim_time" value="true"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base"
output="screen">
<rosparam file="$(find
2d_navigation_launcher)/costmap_common_params.yaml" command="load"
ns="global_costmap" />
<rosparam file="$(find
2d_navigation_launcher)/costmap_common_params.yaml" command="load"
ns="local_costmap" />
<rosparam file="$(find
2d_navigation_launcher)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find
2d_navigation_launcher)/global_costmap_params.yaml" command="load" />
<rosparam file="$(find
2d_navigation_launcher)/base_local_planner_params.yaml" command="load"
/>
</node>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server"
args="$(find stage)/world/willow-full.pgm 0.1" respawn="false"
/>
<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_diff.launch"/>
</launch>
The world file we use for stage is based on the provide in the package
stage ('willow-erratic.world'). I put it here just in case:
define block model
(
size3 [0.5 0.5 0.5]
gui_nose 0
)
define topurg laser
(
range_min 0.0
range_max 30.0
fov 270.25
samples 1081
# generic model properties
color "black"
size [ 0.05 0.05 0.1 ]
)
define erratic position
(
#size3 [0.415 0.392 0.25]
size3 [0.35 0.35 0.25]
origin3 [-0.05 0 0 0]
gui_nose 1
drive "diff"
localization "gps"
topurg(pose [0.050 0.000 0.000])
)
define floorplan model
(
# sombre, sensible, artistic
color "gray30"
# most maps will need a bounding box
boundary 1
gui_nose 0
gui_grid 0
gui_movemask 0
gui_outline 0
gripper_return 0
fiducial_return 0
laser_return 1
)
# set the resolution of the underlying raytrace model in meters
resolution 0.02
interval_sim 100 # simulation timestep in milliseconds
interval_real 100 # real-time interval between simulation updates in
milliseconds
window
(
size [ 745.000 448.000 ]
center [678.990 293.960]
rotate [ 0.000 -1.560 ]
scale 28.806
)
# load an environment bitmap
floorplan
(
name "willow"
bitmap "willow-full.pgm"
size3 [54.0 58.7 0.5]
#pose [-29.350 27.000 90.000]
pose [0.0 0.0 0.0]
)
# throw in a robot
erratic( pose [0.0 0.0 0.0] name "era" color "blue")
block( pose [3.0 0.0 0.0] color "red")
I'm quite sure the error must be related to some wrong parameters, but I
cannot find it. Thanks for your help again!
______________________________
Gorka Azkune Galparsoro
(text/plain)