[ros-users] Navigation stack : Error : Aborting because a valid plan could not be found

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Subject: [ros-users] Navigation stack : Error : Aborting because a valid plan could not be found

Hi,

I have been setting up the navigation stack for a Pioneer 3 AT robot and
have run into some issues. I went through the ROS Users page and the
tutorials (of course), and though they helped clear small problems along the
way, I seem to have run into a dead-end. Any help is appreciated!

I followed this very well written tutorial (
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup ). I created a map,
then the test is as follows: First, I run my laser, odometry and tf node.
Then I run the "move_base.launch" and then "simple_navigation_goals", as
described in the tutorial.

Details:

Running move_base.launch

shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$
roslaunch move_base.launch
... logging to
/home/shanker/.ros/log/ad23bc38-f6f3-11df-bf25-34159e19aa5c/roslaunch-DFKIShankerMBpro-11496.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://DFKIShankerMBpro:46805/

SUMMARY
========

PARAMETERS
* /move_base/global_costmap/robot_base_frame
* /amcl/laser_likelihood_max_dist
* /amcl/laser_max_beams
* /move_base/local_costmap/laser_scan_sensor/sensor_frame
* /amcl/gui_publish_rate
* /amcl/max_particles
* /amcl/laser_z_max
* /move_base/local_costmap/footprint
* /amcl/laser_model_type
* /amcl/laser_z_hit
* /move_base/local_costmap/publish_frequency
* /amcl/odom_model_type
* /amcl/min_particles
* /amcl/laser_sigma_hit
* /amcl/recovery_alpha_fast
* /move_base/local_costmap/height
* /move_base/TrajectoryPlannerROS/min_vel_x
* /move_base/global_costmap/laser_scan_sensor/marking
* /amcl/recovery_alpha_slow
* /move_base/TrajectoryPlannerROS/acc_lim_x
* /amcl/laser_z_short
* /move_base/global_costmap/transform_tolerance
* /move_base/global_costmap/update_frequency
* /move_base/local_costmap/transform_tolerance
* /move_base/global_costmap/inflation_radius
* /move_base/local_costmap/obstacle_range
* /move_base/local_costmap/update_frequency
* /move_base/global_costmap/laser_scan_sensor/sensor_frame
* /move_base/global_costmap/raytrace_range
* /move_base/local_costmap/raytrace_range
* /move_base/global_costmap/obstacle_range
* /move_base/local_costmap/inflation_radius
* /amcl/laser_z_rand
* /move_base/local_costmap/width
* /move_base/local_costmap/laser_scan_sensor/clearing
* /move_base/TrajectoryPlannerROS/acc_lim_y
* /move_base/global_costmap/footprint
* /move_base/global_costmap/global_frame
* /amcl/transform_tolerance
* /move_base/global_costmap/laser_scan_sensor/topic
* /move_base/global_costmap/laser_scan_sensor/data_type
* /move_base/TrajectoryPlannerROS/acc_lim_th
* /amcl/kld_err
* /amcl/odom_alpha4
* /amcl/odom_alpha5
* /move_base/local_costmap/global_frame
* /amcl/odom_alpha1
* /amcl/odom_alpha2
* /amcl/odom_alpha3
* /move_base/TrajectoryPlannerROS/max_rotational_vel
* /move_base/local_costmap/static_map
* /move_base/local_costmap/resolution
* /move_base/local_costmap/laser_scan_sensor/data_type
* /move_base/TrajectoryPlannerROS/holonomic_robot
* /move_base/local_costmap/laser_scan_sensor/marking
* /amcl/kld_z
* /amcl/odom_frame_id
* /move_base/local_costmap/robot_base_frame
* /amcl/resample_interval
* /amcl/update_min_a
* /move_base/local_costmap/observation_sources
* /amcl/update_min_d
* /move_base/global_costmap/observation_sources
* /move_base/local_costmap/laser_scan_sensor/topic
* /amcl/laser_lambda_short
* /move_base/TrajectoryPlannerROS/max_vel_x
* /move_base/local_costmap/rolling_window
* /move_base/global_costmap/static_map
* /move_base/global_costmap/laser_scan_sensor/clearing
* /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel

NODES
  /
    map_server (map_server/map_server)
    amcl (amcl/amcl)
    move_base (move_base/move_base)

ROS_MASTER_URI=http://DFKIShankerMBpro:11311/

core service [/rosout] found
process[map_server-1]: started with pid [11515]
process[amcl-2]: started with pid [11516]
process[move_base-3]: started with pid [11517]
[ INFO] [1290511268.195739611]: Subscribed to Topics: laser_scan_sensor
[ WARN] [1290511273.204655771]: Waiting on transform from base_link to /map
to become available before running costmap, tf error: Frame id /map does not
exist!
[ WARN] [1290511278.298101570]: Waiting on transform from base_link to /map
to become available before running costmap, tf error: Frame id /map does not
exist!
[ INFO] [1290511280.473965257]: Requesting the map...

[ INFO] [1290511280.475752738]: Still waiting on map...

[ INFO] [1290511281.478056618]: Still waiting on map...

[ INFO] [1290511282.480131699]: Received a 384 X 832 map at 0.100000 m/pix

[ INFO] [1290511282.648170444]: MAP SIZE: 384, 832
[ INFO] [1290511282.654468446]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1290511282.692034129]: Requesting the map...

[ INFO] [1290511282.694425450]: Still waiting on map...

[ WARN] [1290511283.708149491]: You have set map parameters, but also
requested to use the static map. Your parameters will be overwritten by
those given by the map server
[ INFO] [1290511283.708245171]: Received a 384 X 832 map at 0.100000 m/pix

Then I run :
shanker@DFKIShankerMBpro:~/Workspace/maps$ rosrun simple_navigation_goals
simple_navigation_goals
[ INFO] [1290511325.971896256]: Sending goal
[ INFO] [1290511326.423739671]: The base failed to move forward 1 meter for
some reason

Then in the other window it continues:
[ WARN] [1290511326.323951650]: Publisher on '/cmd_vel' destroyed
immediately after creation. Did you forget to store the handle?
[ERROR] [1290511326.423324991]: Aborting because a valid plan could not be
found. Even after executing all recovery behaviors

Here is my simple_navigation_goals file:

20 //we'll send a goal to the robot to move 1 meter forward
21 goal.target_pose.header.frame_id = "base_link";
22 goal.target_pose.header.stamp = ros::Time::now();
23
24 goal.target_pose.pose.position.x = 0.2;
25 goal.target_pose.pose.orientation.w = 1.0;
26
27 ROS_INFO("Sending goal");
28 ac.sendGoal(goal);

The change I've made above is simply to move only 0.2 m ahead, just to test
the program.

Here are the topics that I generate:

robo@pioneer3at:~$ rostopic list
/amcl_pose
/clock
/cmd_vel
/initialpose
/map
/map_metadata
/move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles
/move_base/NavfnROS/NavfnROS_costmap/obstacles
/move_base/NavfnROS/NavfnROS_costmap/robot_footprint
/move_base/NavfnROS/NavfnROS_costmap/unknown_space
/move_base/NavfnROS/plan
/move_base/TrajectoryPlannerROS/global_plan
/move_base/TrajectoryPlannerROS/local_plan
/move_base/cancel
/move_base/current_goal
/move_base/feedback
/move_base/global_costmap/inflated_obstacles
/move_base/global_costmap/obstacles
/move_base/global_costmap/robot_footprint
/move_base/global_costmap/unknown_space
/move_base/goal
/move_base/local_costmap/inflated_obstacles
/move_base/local_costmap/obstacles
/move_base/local_costmap/robot_footprint
/move_base/local_costmap/unknown_space
/move_base/result
/move_base/status
/move_base_simple/goal
/odom
/particlecloud
/reset_time
/rosout
/rosout_agg
/scan
/tf
/tf_message
/time

Necessary details on individual topics:

TF
robo@pioneer3at:~$ rostopic echo -c /tf
transforms: [
    header: 
      seq: 42319
      stamp: 1290511461348894000
      frame_id: /base_link
    child_frame_id: /laser
    transform: 
      translation: 
        x: 0.1
        y: 0.0
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0]
transforms: [
    header: 
      seq: 0
      stamp: 1290511461144931000
      frame_id: /map
    child_frame_id: /odom
    transform: 
      translation: 
        x: -6.05727013824e-06
        y: 0.000999981654571
        z: -0.0
      rotation: 
        x: -0.0
        y: -0.0
        z: 0.00302864895962
        w: 0.999995413632]
transforms: [
    header: 
      seq: 6347
      stamp: 1290511461326456000
      frame_id: /odom
    child_frame_id: /base_link
    transform: 
      translation: 
        x: 0.0
        y: -0.001
        z: 0.0
      rotation: 
        x: 0.0
        y: -0.0
        z: -0.00302864895962
        w: 0.999995413632]

Odometry
header: 
  seq: 14072
  stamp: 1290511718818769000
  frame_id: odom
child_frame_id: 
pose: 
  pose: 
    position: 
      x: 0.0
      y: -0.001
      z: 0.0
    orientation: 
      x: -0.0
      y: 0.0
      z: 0.00302864895962
      w: -0.999995413632
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Parameter files:

Costmap:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[27.5,32.5], [-27.5,32.5], [-27.5,-32.5], [27.5,-32.5]]
observation_sources: laser_scan_sensor
transform_tolerance: 0.3
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan,
marking: true, clearing: true}
inflation_radius: 0.55

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

Local Costmap file:
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 1
publish_frequency: 0
static_map: true
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.1

Global costmap file:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 1.0
static_map: true

Diagnostics:

ROSWTF

Before running simple nav goals:

shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$
roswtf
Loaded plugin tf.tfwtf
Package: 2dnav_PioneerDFKI
================================================================================
Static checks summary:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following packages have msg/srv-related cflags exports that are
no longer necessary
    <export>
        <cpp cflags="..."
    </export>:
 * tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
 * nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
 * sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
 * costmap_2d: -I${prefix}/msg/cpp
 * actionlib_msgs: -I${prefix}/msg/cpp
 * geometry_msgs: -I${prefix}/msg/cpp
 * visualization_msgs: -I${prefix}/msg/cpp
 * move_base_msgs: -I${prefix}/msg/cpp
 * base_local_planner: -I${prefix}/msg/cpp
 * actionlib: -I${prefix}/msg/cpp
 * navfn: -I${prefix}/srv/cpp

WARNING The following packages have msg/srv-related cflags exports that are
no longer necessary
    <export>
        <cpp cflags="..."
    </export>:
 * tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
 * nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
 * sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
 * costmap_2d: -I${prefix}/msg/cpp
 * actionlib_msgs: -I${prefix}/msg/cpp
 * geometry_msgs: -I${prefix}/msg/cpp
 * visualization_msgs: -I${prefix}/msg/cpp
 * move_base_msgs: -I${prefix}/msg/cpp
 * base_local_planner: -I${prefix}/msg/cpp
 * actionlib: -I${prefix}/msg/cpp
 * navfn: -I${prefix}/srv/cpp

================================================================================
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:
* /initialpose
* /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->/simple_navigation_goals (/move_base/result)
* /move_base->/rosout (/rosout)
* /sicklms->/rosout (/rosout)
* /amcl->/rosout (/rosout)
* /map_server->/rosout (/rosout)
* /tflaserlink->/rosout (/rosout)
* /move_base->/simple_navigation_goals (/move_base/feedback)
* /odomesub->/rosout (/rosout)

RXGraph

http://ros-users.122217.n3.nabble.com/file/n1956004/Beforesimplenav.jpg

The map I used :

http://ros-users.122217.n3.nabble.com/file/n1956004/broadcorridor1.jpg

broadcorridor1.yaml:

image: broadcorridor1.pgm
resolution: 0.100000
origin: [-20.000000, -64.800000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

Questions:

1. One thing Im not sure is that the "origin" part of the map yaml file says
(-20, -64.8). That's the pixel in the image is it not? And not the odometry
on the robot when I started the map? I'm fairly confident that I started at
odometry (0,0) when I started mapping.

2. Is this simply a localization issue that it thinks it is at a different
position than I assume? Is there a separate error message if that happens?

Thanks for your time,

Best
Shanker

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[ros-users] Navigation stack : Error : Aborting because a va…