Hi Eitan:
I found it's really helpful for me. But I have some problem with it. First
I found that when I type the command "roslaunch navigation_stage
move_base_amcl_10cm.launch" ,it gets some errors as following:
=============================error================================
jolin@ubuntu:~$ roslaunch navigation_stage move_base_amcl_10cm.launch ...
logging to
/home/jolin/.ros/log/bd60ed90-e22c-11df-a2d2-18f46a15a5f5/roslaunch-ubuntu-3560.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://ubuntu:36825/
SUMMARY
========
PARAMETERS
* /use_sim_time
* /move_base_node/global_costmap/observation_sources
* /amcl/gui_publish_rate
* /move_base_node/local_costmap/origin_y
* /move_base_node/local_costmap/origin_x
* /move_base_node/local_costmap/update_frequency
* /move_base_node/local_costmap/origin_z
* /move_base_node/global_costmap/base_scan/max_obstacle_height
* /move_base_node/global_costmap/origin_z
* /move_base_node/local_costmap/base_scan/marking
* /move_base_node/local_costmap/observation_sources
* /move_base_node/TrajectoryPlannerROS/vx_samples
* /amcl/recovery_alpha_slow
* /move_base_node/local_costmap/base_scan/clearing
* /move_base_node/global_costmap/mark_threshold
* /amcl/laser_z_short
* /move_base_node/global_costmap/obstacle_range
* /move_base_node/local_costmap/max_obstacle_height
* /move_base_node/TrajectoryPlannerROS/sim_time
* /move_base_node/TrajectoryPlannerROS/max_vel_x
* /amcl/laser_z_max
* /amcl/laser_z_rand
* /move_base_node/TrajectoryPlannerROS/acc_lim_th
* /move_base_node/global_costmap/base_scan/observation_persistence
* /move_base_node/local_costmap/inflation_radius
* /move_base_node/global_costmap/map_type
* /move_base_node/TrajectoryPlannerROS/vtheta_samples
* /move_base_node/TrajectoryPlannerROS/acc_lim_y
* /move_base_node/TrajectoryPlannerROS/acc_lim_x
* /move_base_node/global_costmap/static_map
* /move_base_node/global_costmap/base_scan/data_type
* /move_base_node/local_costmap/unknown_threshold
* /move_base_node/global_costmap/footprint
* /amcl/laser_lambda_short
* /move_base_node/TrajectoryPlannerROS/sim_granularity
* /move_base_node/local_costmap/base_scan/observation_persistence
* /amcl/laser_max_beams
* /move_base_node/local_costmap/z_resolution
* /move_base_node/TrajectoryPlannerROS/min_vel_x
* /move_base_node/local_costmap/map_type
* /move_base_node/global_costmap/lethal_cost_threshold
* /move_base_node/local_costmap/lethal_cost_threshold
* /amcl/odom_model_type
* /amcl/laser_sigma_hit
* /amcl/recovery_alpha_fast
* /move_base_node/global_costmap/inflation_radius
* /move_base_node/global_costmap/z_voxels
* /move_base_node/local_costmap/base_scan/data_type
* /move_base_node/local_costmap/transform_tolerance
* /move_base_node/global_costmap/robot_base_frame
* /move_base_node/global_costmap/transform_tolerance
* /move_base_node/local_costmap/global_frame
* /move_base_node/local_costmap/rolling_window
* /move_base_node/TrajectoryPlannerROS/dwa
* /amcl/odom_alpha5
* /amcl/odom_alpha1
* /amcl/odom_alpha2
* /amcl/odom_alpha3
* /amcl/odom_alpha4
* /move_base_node/local_costmap/width
* /stageros/base_watchdog_timeout
* /move_base_node/global_costmap/base_scan/clearing
* /move_base_node/local_costmap/publish_frequency
* /amcl/max_particles
* /move_base_node/local_costmap/height
* /move_base_node/local_costmap/static_map
* /move_base_node/global_costmap/cost_scaling_factor
* /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
* /amcl/min_particles
* /move_base_node/global_costmap/global_frame
* /move_base_node/TrajectoryPlannerROS/y_vels
* /move_base_node/controller_frequency
* /move_base_node/local_costmap/cost_scaling_factor
* /move_base_node/TrajectoryPlannerROS/max_rotational_vel
* /amcl/laser_model_type
* /move_base_node/global_costmap/publish_frequency
* /move_base_node/TrajectoryPlannerROS/goal_distance_bias
* /amcl/transform_tolerance
* /move_base_node/global_costmap/raytrace_range
* /amcl/kld_err
* /amcl/resample_interval
* /move_base_node/global_costmap/update_frequency
* /move_base_node/local_costmap/mark_threshold
* /move_base_node/local_costmap/base_scan/max_obstacle_height
* /move_base_node/local_costmap/obstacle_range
* /move_base_node/local_costmap/robot_base_frame
* /move_base_node/TrajectoryPlannerROS/heading_lookahead
* /move_base_node/global_costmap/z_resolution
* /move_base_node/TrajectoryPlannerROS/holonomic_robot
* /move_base_node/local_costmap/footprint
* /move_base_node/global_costmap/rolling_window
* /amcl/laser_z_hit
* /move_base_node/global_costmap/base_scan/expected_update_rate
* /amcl/update_min_d
* /move_base_node/local_costmap/raytrace_range
* /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
* /move_base_node/global_costmap/unknown_threshold
* /move_base_node/TrajectoryPlannerROS/path_distance_bias
* /move_base_node/global_costmap/max_obstacle_height
* /amcl/odom_frame_id
* /move_base_node/local_costmap/base_scan/min_obstacle_height
* /move_base_node/global_costmap/base_scan/marking
* /move_base_node/TrajectoryPlannerROS/prune_plan
* /move_base_node/global_costmap/base_scan/min_obstacle_height
* /move_base_node/local_costmap/z_voxels
* /move_base_node/local_costmap/resolution
* /move_base_node/footprint_padding
* /move_base_node/TrajectoryPlannerROS/backup_vel
* /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
* /amcl/kld_z
* /move_base_node/global_costmap/footprint_padding
* /move_base_node/local_costmap/base_scan/expected_update_rate
* /move_base_node/local_costmap/footprint_padding
* /amcl/update_min_a
* /amcl/laser_likelihood_max_dist
* /move_base_node/local_costmap/publish_voxel_map
* /move_base_node/TrajectoryPlannerROS/occdist_scale
* /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
NODES
/
move_base_node (move_base/move_base)
map_server (map_server/map_server)
stageros (stage/stageros)
amcl (amcl/amcl)
nav_view (nav_view/nav_view)
starting new master (master configured for auto start)
process[master]: started with pid [3573]
ROS_MASTER_URI=
http://ubuntu:11311/
setting /run_id to bd60ed90-e22c-11df-a2d2-18f46a15a5f5
process[rosout-1]: started with pid [3586]
started core service [/rosout]
process[move_base_node-2]: started with pid [3600]
process[map_server-3]: started with pid [3601]
process[stageros-4]: started with pid [3602]
process[amcl-5]: started with pid [3608]
process[nav_view-6]: started with pid [3617]
[ INFO] [1288226763.463708926]: Subscribed to Topics: base_scan
[stageros-4] process has died [pid 3602, exit code -11].
log files:
/home/jolin/.ros/log/bd60ed90-e22c-11df-a2d2-18f46a15a5f5/stageros-4*.log
=============================================end of
error=======================================================
It seems that stageros has some problems? And when I type the command
"rosrun stage stageros
/opt/ros/cturtle/stacks/navigation_tutorials/navigation_stage/stage_config/worlds/willow-pr2.world",
it gets the following error:
"/opt/ros/cturtle/ros/bin/rosrun: line 35: 4695 segment fault
$exepath "$@"". What is happened? How can I solve this problem?
The second question is that I have some puzzles with localization on the pr2
robot. When I type "roslaunch navigation_stage move_base_amcl_10cm.launch",
I only get the Nav_view window, and it just have a map. What should I do to
move the robot because when I type the "move" menu in the nav_view window,
nothing happened.
Thanks in advance. Looking forward to your replying!
jolin
On 2010-10-27 17:59, Eitan Marder-Eppstein wrote:
> Joline
>
> To see an example of a robot running localization in simulation, you might
> find it helpful to check out the navigation_stage package which includes
> launch files for running amcl in the stage simulator. See
> http://www.ros.org/wiki/navigation_stage. Any of the launch files with
> "amcl" in the name should bring localization up.
>
> Hope this helps,
>
> Eitan
>
> On Wed, Oct 27, 2010 at 7:57 AM, Jolin Jia <pplin86@gmail.com> wrote:
>
> >
> > jolin
> > TJ University
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
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